Complete arena world test

Author: azazdeaz

src/sam_bot_nav2_gz/launch/waypoint_follower_example_launch.py

@@ -121,7 +121,7 @@ def generate_launch_description():
         launch_arguments={
             "use_sim_time": "True",
             "robot_sdf": robot_sdf,
-            "x_pose": "-8.0",
+            "x_pose": "0.0",
             "y_pose": "0.0",
             "z_pose": "0.0",
             "roll": "0.0",

src/sam_bot_nav2_gz/worlds/arena.sdf

@@ -22,6 +22,7 @@
     <plugin filename="gz-sim-contact-system" name="gz::sim::systems::Contact">
     </plugin>
     <scene>
+      <grid>false</grid>
       <ambient>1.0 1.0 1.0</ambient>
       <background>0.8 0.8 0.8</background>
     </scene>
@@ -71,7 +72,7 @@
     <model name="sky_cam">
       <static>true</static>
       <link name="camera_link">
-        <pose>0 0 10 1.57 1.57 0</pose>
+        <pose>2 0 10 1.57 1.57 0</pose>
         <sensor name="sky_cam" type="camera">
           <camera>
             <horizontal_fov>1.047</horizontal_fov>
@@ -94,7 +95,7 @@
 
     <include>
         <uri>TurtlebotArena</uri>
-        <pose>0.0 0.0 0.0 0 0 0</pose>
+        <pose>2.0 0.0 0.0 0 0 0</pose>
     </include>
 
   </world>

src/sam_bot_nav2_gz/worlds/depot.sdf

@@ -40,7 +40,7 @@
     <model name="sky_cam">
       <static>true</static>
       <link name="camera_link">
-        <pose>0 0 15 1.57 1.57 0</pose>
+        <pose>8 0 15 1.57 1.57 0</pose>
         <sensor name="sky_cam" type="camera">
           <camera>
             <horizontal_fov>1.047</horizontal_fov>
@@ -62,6 +62,7 @@
     </model>
 
     <include>
+      <pose>8.0 0.0 0.0 0 0 0</pose>
       <uri>
         https://fuel.gazebosim.org/1.0/OpenRobotics/models/Depot
       </uri>