fix: move MKMini default spawn point

src/nav2_turtlebot_simulator/launch/simulator.launch.py

@@ -300,6 +300,8 @@ def launch_gazebo(context):
     world = LaunchConfiguration('world').perform(context)
     render_mode = LaunchConfiguration('render_mode').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 = ''
 
     if render_mode not in {'flat', 'full'}:
@@ -348,6 +350,10 @@ def launch_gazebo(context):
         entity_name = 'mkmini_gazebo'
         model_directory = os.path.join(simulator_dir, 'models')
         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 = []
     else:
         raise RuntimeError('platform must be turtlebot3 or mkmini')
@@ -371,8 +377,8 @@ def launch_gazebo(context):
             arguments=[
                 '-entity', entity_name,
                 '-file', model_path,
-                '-x', LaunchConfiguration('x_pose').perform(context),
-                '-y', LaunchConfiguration('y_pose').perform(context),
+                '-x', spawn_x,
+                '-y', spawn_y,
                 '-z', '0.01',
             ],
             output='screen',