simulation for task 4

com2009_simulations/launch/task4.launch

@@ -0,0 +1,21 @@
+<launch>
+  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
+  <arg name="x_pos" default="1.42"/>
+  <arg name="y_pos" default="0.0"/>
+  <arg name="z_pos" default="0.0"/>
+  <arg name="yaw" default="-3.142"/>
+
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" value="$(find com2009_simulations)/worlds/exploration.world"/>
+    <arg name="paused" value="false"/>
+    <arg name="use_sim_time" value="true"/>
+    <arg name="gui" value="true"/>
+    <arg name="headless" value="false"/>
+    <arg name="debug" value="false"/>
+  </include>  
+
+  <param name="robot_description" command="$(find xacro)/xacro $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
+
+  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model turtlebot3_$(arg model) -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -Y $(arg yaw) -param robot_description" />
+
+</launch>

com2009_simulations/models/task4_explore/materials/scripts/floor.material

@@ -0,0 +1,19 @@
+material Task4ExploreFloor/Image
+{
+  technique
+  {
+    pass
+    {
+      ambient 0.5 0.5 0.5 1.0
+      diffuse 1.0 1.0 1.0 1.0
+      specular 0.0 0.0 0.0 1.0 0.5
+
+      texture_unit
+      {
+        texture task4_explore_floor.png
+        filtering trilinear
+        scale 1 1
+      }
+    }
+  }
+}