From 976fd98827fb8e0613ce855640464044c1c16af8 Mon Sep 17 00:00:00 2001 From: chyoo Date: Thu, 6 Aug 2026 14:07:48 +0900 Subject: [PATCH] refactor: delegate MKMini Gazebo to simulator --- src/vehicle_pkg/launch/vehicle.launch.py | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) diff --git a/src/vehicle_pkg/launch/vehicle.launch.py b/src/vehicle_pkg/launch/vehicle.launch.py index 22e5b85..d53e485 100755 --- a/src/vehicle_pkg/launch/vehicle.launch.py +++ b/src/vehicle_pkg/launch/vehicle.launch.py @@ -91,7 +91,9 @@ def build(context, *args, **kwargs): sim = (sim_mode == 'true') actions = [] - # (a) spawn: CARLA only. Gazebo simulator owns the TurtleBot3 entity. + # (a) CARLA is still owned by this module. Gazebo is owned by the + # dedicated NAV2-Gazebo module so both vehicle profiles use the same + # simulation boundary. Real-vehicle paths remain unchanged. if sim and plan['simulator'] == 'carla': spawn_launch = os.path.join(pkg_share, 'launch', 'carla_spawn_hero.launch.py') actions.append(IncludeLaunchDescription( @@ -107,12 +109,6 @@ def build(context, *args, **kwargs): ('spawn_imu', spawn_imu), ], )) - elif sim and plan['simulator'] == 'gazebo': - gazebo_launch = os.path.join(pkg_share, 'launch', 'mkmini_gazebo.launch.py') - actions.append(IncludeLaunchDescription( - PythonLaunchDescriptionSource(gazebo_launch), - launch_arguments=[('gui', gui)], - )) elif not sim: actions.append(Node(package='vehicle_pkg', executable='pub_clock', name='pub_clock', output='screen'))