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fix: move MKMini Gazebo spawn from pillar

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chyoo
2026-08-06 15:13:13 +09:00
parent 6a09e31967
commit 671142119a
1 changed files with 2 additions and 0 deletions
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src/nav2_turtlebot_simulator/launch/simulator.launch.py
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@@ -371,6 +371,8 @@ def launch_gazebo(context):
# The world obstacles are spread out for MKMini, but the original # The world obstacles are spread out for MKMini, but the original
# TurtleBot spawn is already inside the navigable centre of that map. # TurtleBot spawn is already inside the navigable centre of that map.
# Scaling it as well placed the robot against the generated map edge. # Scaling it as well placed the robot against the generated map edge.
if spawn_x == '-2.0' and spawn_y == '-0.5':
spawn_x = '-1.4'
# Gazebo's fixed joint does not reliably publish this transform to the # Gazebo's fixed joint does not reliably publish this transform to the
# separate SLAM container. Publish the sensor mounting point explicitly. # separate SLAM container. Publish the sensor mounting point explicitly.
static_transforms = [ static_transforms = [