Consolidated worlds into a single file (#298) (#304)

* Consolidated worlds into a single file * Merge upstream * Fixed stale compose file change (cherry picked from commit 6155ac8) Co-authored-by: Evan Palmer <evanp922@gmail.com>
Robotic-Decision-Making-Lab · Sep 14, 2024 · cba3a86 · cba3a86
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commit cba3a86
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Showing 8 changed files with 4 additions and 101 deletions.
diff --git a/.docker/compose/nouveau-desktop.yaml b/.docker/compose/nouveau-desktop.yaml
@@ -1,4 +1,3 @@
-version: "3"
 services:
  blue:
  image: ghcr.io/robotic-decision-making-lab/blue:humble-desktop

diff --git a/.docker/compose/nvidia-desktop.yaml b/.docker/compose/nvidia-desktop.yaml
@@ -1,4 +1,3 @@
-version: "3"
 services:
  blue:
  image: ghcr.io/robotic-decision-making-lab/blue:humble-desktop-nvidia

diff --git a/blue_bringup/launch/bluerov2/bluerov2.launch.yaml b/blue_bringup/launch/bluerov2/bluerov2.launch.yaml
@@ -39,7 +39,7 @@ launch:
 
  - arg:
  name: gazebo_world_file
- default: $(find-pkg-share blue_description)/gazebo/worlds/$(var model_name)_underwater.world
+ default: $(find-pkg-share blue_description)/gazebo/worlds/underwater.world
 
  - arg:
  name: mavros_file

diff --git a/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml b/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml
@@ -39,7 +39,7 @@ launch:
 
  - arg:
  name: gazebo_world_file
- default: $(find-pkg-share blue_description)/gazebo/worlds/$(var model_name)_underwater.world
+ default: $(find-pkg-share blue_description)/gazebo/worlds/underwater.world
 
  - arg:
  name: mavros_file

diff --git a/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml b/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml
@@ -39,7 +39,7 @@ launch:
 
  - arg:
  name: gazebo_world_file
- default: $(find-pkg-share blue_description)/gazebo/worlds/$(var model_name)_underwater.world
+ default: $(find-pkg-share blue_description)/gazebo/worlds/underwater.world
 
  - arg:
  name: mavros_file

diff --git a/blue_description/gazebo/worlds/bluerov2_heavy_reach_underwater.world b/blue_description/gazebo/worlds/bluerov2_heavy_reach_underwater.world
diff --git a/blue_description/gazebo/worlds/bluerov2_heavy_underwater.world b/blue_description/gazebo/worlds/bluerov2_heavy_underwater.world
diff --git a/...n/gazebo/worlds/bluerov2_underwater.world → ...escription/gazebo/worlds/underwater.world b/...n/gazebo/worlds/bluerov2_underwater.world → ...escription/gazebo/worlds/underwater.world
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <sdf version="1.6">
- <world name="bluerov2_underwater">
+ <world name="underwater_world">
 
  <plugin
  filename="gz-sim-physics-system"
@@ -31,7 +31,6 @@
  <density>1</density>
  </density_change>
  </graded_buoyancy>
- <enable>bluerov2</enable>
  </plugin>
 
  <include>