templates/lms-nav2-gazebo-simulator
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fix: move MKMini default spawn point

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This commit is contained in:
chyoo
2026-08-06 14:42:41 +09:00
parent 362fc79f2d
commit 8789bf6085
1 changed files with 8 additions and 2 deletions
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src/nav2_turtlebot_simulator/launch/simulator.launch.py
+8 -2
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@@ -300,6 +300,8 @@ def launch_gazebo(context):
world = LaunchConfiguration('world').perform(context) world = LaunchConfiguration('world').perform(context)
render_mode = LaunchConfiguration('render_mode').perform(context).strip().lower() render_mode = LaunchConfiguration('render_mode').perform(context).strip().lower()
platform = LaunchConfiguration('platform').perform(context).strip().lower() platform = LaunchConfiguration('platform').perform(context).strip().lower()
spawn_x = LaunchConfiguration('x_pose').perform(context)
spawn_y = LaunchConfiguration('y_pose').perform(context)
extra_model_path = '' extra_model_path = ''
if render_mode not in {'flat', 'full'}: if render_mode not in {'flat', 'full'}:
@@ -348,6 +350,10 @@ def launch_gazebo(context):
entity_name = 'mkmini_gazebo' entity_name = 'mkmini_gazebo'
model_directory = os.path.join(simulator_dir, 'models') model_directory = os.path.join(simulator_dir, 'models')
model_path = os.path.join(model_directory, 'mkmini_gazebo', 'model.sdf') model_path = os.path.join(model_directory, 'mkmini_gazebo', 'model.sdf')
# Keep the default spawn point proportional to the expanded MKMini map.
if spawn_x == '-2.0' and spawn_y == '-0.5':
spawn_x = str(-2.0 * MKMINI_WORLD_SPACING_SCALE)
spawn_y = str(-0.5 * MKMINI_WORLD_SPACING_SCALE)
static_transforms = [] static_transforms = []
else: else:
raise RuntimeError('platform must be turtlebot3 or mkmini') raise RuntimeError('platform must be turtlebot3 or mkmini')
@@ -371,8 +377,8 @@ def launch_gazebo(context):
arguments=[ arguments=[
'-entity', entity_name, '-entity', entity_name,
'-file', model_path, '-file', model_path,
'-x', LaunchConfiguration('x_pose').perform(context), '-x', spawn_x,
'-y', LaunchConfiguration('y_pose').perform(context), '-y', spawn_y,
'-z', '0.01', '-z', '0.01',
], ],
output='screen', output='screen',