diff --git a/launch/description/spawn_robot.launch.py b/launch/description/spawn_robot.launch.py
index f9f91fd..24e7003 100644
--- a/launch/description/spawn_robot.launch.py
+++ b/launch/description/spawn_robot.launch.py
@@ -22,7 +22,7 @@ def generate_launch_description():
use_sim_time = True
gui = False
- world_name = 'mapping.world'
+ world_name = 'mapping.sdf'
camera_enabled = True
two_d_lidar_enabled = True
rviz_enabled = False
diff --git a/launch/main.launch.py b/launch/main.launch.py
index 5681f6f..c50d0db 100644
--- a/launch/main.launch.py
+++ b/launch/main.launch.py
@@ -18,7 +18,7 @@ def generate_launch_description():
use_sim_time = True
- world_name = 'empty.world'
+ world_name = 'empty.sdf'
camera_enabled = False
two_d_lidar_enabled = False
rviz_enabled = False
diff --git a/worlds/empty.sdf b/worlds/empty.sdf
new file mode 100644
index 0000000..cb9ee35
--- /dev/null
+++ b/worlds/empty.sdf
@@ -0,0 +1,277 @@
+
+
+
+
+
+
+ model://sun
+ 0 0 0 0 0 0
+
+
+
+
+ model://ground_plane
+ 0 0 0 0 0 0
+
+
+
+
+
+ 50
+
+
+ 0 0 0 1.0
+ 0
+
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ 0.4 0.4 0.4
+ 0.8 0.8 0.8
+ -3.5 -0.15 12.5 0 1.25 0
+
+ 0.25
+ 25000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
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+ false
+ 5
+ 5
+ floating
+ false
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+ false
+ 5
+ 5
+ floating
+ false
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+ false
+ 5
+ 5
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+ false
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+ false
+ 5
+ 5
+ floating
+ false
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+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ false
+ 0
+ 0
+ 250
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 250
+ 0
+ 150
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 0
+ 50
+ 250
+ 50
+ floating
+ false
+ #777777
+
+
+
+
+
+
+ false
+ 250
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+
+
+
+ false
+ 300
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+ true
+ false
+ 4000000
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+
+
diff --git a/worlds/empty.world b/worlds/empty.world
deleted file mode 100644
index 5a6bcc0..0000000
--- a/worlds/empty.world
+++ /dev/null
@@ -1,28 +0,0 @@
-
-
-
-
-
-
- model://sun
- 0 0 0 0 0 0
-
-
-
-
- model://ground_plane
- 0 0 0 0 0 0
-
-
-
-
-
- 50
-
-
- 0 0 0 1.0
- 0
-
-
-
-
diff --git a/worlds/mapping.sdf b/worlds/mapping.sdf
new file mode 100644
index 0000000..6724da0
--- /dev/null
+++ b/worlds/mapping.sdf
@@ -0,0 +1,479 @@
+
+
+
+
+ 0 0 -9.8
+
+
+ 0.001
+ 1
+ 1000
+
+
+
+ 0 0 9 0 0 0
+ 0.5 0.5 0.5 1
+ 0.2 0.2 0.2 1
+
+ 80
+ 0.3
+ 0.01
+ 0.001
+
+ 1
+ 0.1 0.1 -1
+
+
+
+
+
+
+
+
+ model://aws_robomaker_warehouse_ShelfF_01
+
+ -5.795143 -0.956635 0 0 0 0
+
+
+
+
+ model://aws_robomaker_warehouse_WallB_01
+
+ 0.0 0.0 0 0 0 0
+
+
+
+
+ model://aws_robomaker_warehouse_ShelfE_01
+
+ 4.73156 0.57943 0 0 0 0
+
+
+
+
+ model://aws_robomaker_warehouse_ShelfE_01
+
+ 4.73156 -4.827049 0 0 0 0
+
+
+
+
+ model://aws_robomaker_warehouse_ShelfE_01
+
+ 4.73156 -8.6651 0 0 0 0
+
+
+
+
+ model://aws_robomaker_warehouse_ShelfD_01
+
+ 4.73156 -1.242668 0 0 0 0
+
+
+
+
+ model://aws_robomaker_warehouse_ShelfD_01
+
+ 4.73156 -3.038551 0 0 0 0
+
+
+
+
+ model://aws_robomaker_warehouse_ShelfD_01
+
+ 4.73156 -6.750542 0 0 0 0
+
+
+
+
+ model://aws_robomaker_warehouse_DeskC_01
+
+ -0.061684 6.135864 0 0 0 0
+
+
+
+
+ model://aws_robomaker_warehouse_DeskC_01
+
+ -0.061684 3.039 0 0 0 0
+
+
+
+
+ model://aws_robomaker_warehouse_DeskC_01
+
+ -0.061684 -6.6493 0 0 0 0
+
+
+
+
+ model://aws_robomaker_warehouse_GroundB_01
+
+ 0.0 0.0 -0.090092 0 0 0
+
+
+
+
+ model://aws_robomaker_warehouse_Bucket_01
+
+ 0.433449 9.631706 0 0 0 -1.563161
+
+
+
+
+ model://aws_robomaker_warehouse_Bucket_01
+
+ -1.8321 -6.3752 0 0 0 -1.563161
+
+
+
+
+ model://aws_robomaker_warehouse_Bucket_01
+
+ 0.433449 8.59 0 0 0 -1.563161
+
+
+
+
+ model://aws_robomaker_warehouse_ClutteringA_01
+
+ 5.708138 8.616844 -0.017477 0 0 0
+
+
+
+
+ model://aws_robomaker_warehouse_ClutteringA_01
+
+ 3.408638 8.616844 -0.017477 0 0 0
+
+
+
+
+ model://aws_robomaker_warehouse_ClutteringA_01
+
+ -1.491287 5.222435 -0.017477 0 0 -1.583185
+
+
+
+
+ model://aws_robomaker_warehouse_ClutteringC_01
+
+ 3.324959 3.822449 -0.012064 0 0 1.563871
+
+
+
+
+ model://aws_robomaker_warehouse_ClutteringC_01
+
+ 5.54171 3.816475 -0.015663 0 0 -1.583191
+
+
+
+
+ model://aws_robomaker_warehouse_ClutteringC_01
+
+ 5.384239 6.137154 0 0 0 3.150000
+
+
+
+
+ model://aws_robomaker_warehouse_ClutteringC_01
+
+ 3.236 6.137154 0 0 0 3.150000
+
+
+
+
+ model://aws_robomaker_warehouse_ClutteringC_01
+
+ -1.573677 2.301994 -0.015663 0 0 -3.133191
+
+
+
+
+ model://aws_robomaker_warehouse_ClutteringC_01
+
+ -1.2196 9.407 -0.015663 0 0 1.563871
+
+
+
+
+ model://aws_robomaker_warehouse_ClutteringD_01
+
+ -1.634682 -7.811813 -0.319559 0 0 0
+
+
+
+
+ model://aws_robomaker_warehouse_TrashCanC_01
+
+ -1.592441 7.715420 0 0 0 0
+
+
+
+
+ model://aws_robomaker_warehouse_PalletJackB_01
+
+ -0.276098 -9.481944 0.023266 0 0 0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ 0.4 0.4 0.4
+ 0.8 0.8 0.8
+ -3.5 -0.15 12.5 0 1.25 0
+
+ 0.25
+ 25000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
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+
+ false
+ 5
+ 5
+ floating
+ false
+
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+ false
+ 5
+ 5
+ floating
+ false
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+
+
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+ false
+ 5
+ 5
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+ false
+
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+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ false
+ 0
+ 0
+ 250
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 250
+ 0
+ 150
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 0
+ 50
+ 250
+ 50
+ floating
+ false
+ #777777
+
+
+
+
+
+
+ false
+ 250
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+
+
+
+ false
+ 300
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+ true
+ false
+ 4000000
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+
+
diff --git a/worlds/mapping.world b/worlds/mapping.world
deleted file mode 100644
index 58c0969..0000000
--- a/worlds/mapping.world
+++ /dev/null
@@ -1,231 +0,0 @@
-
-
-
-
- 0 0 -9.8
-
-
- 0.001
- 1
- 1000
-
-
-
- 0 0 9 0 0 0
- 0.5 0.5 0.5 1
- 0.2 0.2 0.2 1
-
- 80
- 0.3
- 0.01
- 0.001
-
- 1
- 0.1 0.1 -1
-
-
-
-
-
-
-
-
- model://aws_robomaker_warehouse_ShelfF_01
-
- -5.795143 -0.956635 0 0 0 0
-
-
-
-
- model://aws_robomaker_warehouse_WallB_01
-
- 0.0 0.0 0 0 0 0
-
-
-
-
- model://aws_robomaker_warehouse_ShelfE_01
-
- 4.73156 0.57943 0 0 0 0
-
-
-
-
- model://aws_robomaker_warehouse_ShelfE_01
-
- 4.73156 -4.827049 0 0 0 0
-
-
-
-
- model://aws_robomaker_warehouse_ShelfE_01
-
- 4.73156 -8.6651 0 0 0 0
-
-
-
-
- model://aws_robomaker_warehouse_ShelfD_01
-
- 4.73156 -1.242668 0 0 0 0
-
-
-
-
- model://aws_robomaker_warehouse_ShelfD_01
-
- 4.73156 -3.038551 0 0 0 0
-
-
-
-
- model://aws_robomaker_warehouse_ShelfD_01
-
- 4.73156 -6.750542 0 0 0 0
-
-
-
-
- model://aws_robomaker_warehouse_DeskC_01
-
- -0.061684 6.135864 0 0 0 0
-
-
-
-
- model://aws_robomaker_warehouse_DeskC_01
-
- -0.061684 3.039 0 0 0 0
-
-
-
-
- model://aws_robomaker_warehouse_DeskC_01
-
- -0.061684 -6.6493 0 0 0 0
-
-
-
-
- model://aws_robomaker_warehouse_GroundB_01
-
- 0.0 0.0 -0.090092 0 0 0
-
-
-
-
- model://aws_robomaker_warehouse_Bucket_01
-
- 0.433449 9.631706 0 0 0 -1.563161
-
-
-
-
- model://aws_robomaker_warehouse_Bucket_01
-
- -1.8321 -6.3752 0 0 0 -1.563161
-
-
-
-
- model://aws_robomaker_warehouse_Bucket_01
-
- 0.433449 8.59 0 0 0 -1.563161
-
-
-
-
- model://aws_robomaker_warehouse_ClutteringA_01
-
- 5.708138 8.616844 -0.017477 0 0 0
-
-
-
-
- model://aws_robomaker_warehouse_ClutteringA_01
-
- 3.408638 8.616844 -0.017477 0 0 0
-
-
-
-
- model://aws_robomaker_warehouse_ClutteringA_01
-
- -1.491287 5.222435 -0.017477 0 0 -1.583185
-
-
-
-
- model://aws_robomaker_warehouse_ClutteringC_01
-
- 3.324959 3.822449 -0.012064 0 0 1.563871
-
-
-
-
- model://aws_robomaker_warehouse_ClutteringC_01
-
- 5.54171 3.816475 -0.015663 0 0 -1.583191
-
-
-
-
- model://aws_robomaker_warehouse_ClutteringC_01
-
- 5.384239 6.137154 0 0 0 3.150000
-
-
-
-
- model://aws_robomaker_warehouse_ClutteringC_01
-
- 3.236 6.137154 0 0 0 3.150000
-
-
-
-
- model://aws_robomaker_warehouse_ClutteringC_01
-
- -1.573677 2.301994 -0.015663 0 0 -3.133191
-
-
-
-
- model://aws_robomaker_warehouse_ClutteringC_01
-
- -1.2196 9.407 -0.015663 0 0 1.563871
-
-
-
-
- model://aws_robomaker_warehouse_ClutteringD_01
-
- -1.634682 -7.811813 -0.319559 0 0 0
-
-
-
-
- model://aws_robomaker_warehouse_TrashCanC_01
-
- -1.592441 7.715420 0 0 0 0
-
-
-
-
- model://aws_robomaker_warehouse_PalletJackB_01
-
- -0.276098 -9.481944 0.023266 0 0 0
-
-
-
-