working jackal simulation int he simple world

install_requirements.sh

@@ -11,7 +11,7 @@ echo "Please wait while your working environment is setup"
 # install git and configure git
 apt-get -y install git
 
-# git clone https://git.wur.nl/ruigr004/fre_virtual_event.git
+git clone https://git.wur.nl/ruigr004/fre_virtual_event.git
 
 # install ROS melodic
 # =======================================
@@ -33,7 +33,10 @@ apt-get -y upgrade
 grep -q -F "source /opt/ros/melodic/setup.bash" ~/.bashrc || echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
 
 # add gazebo model path to the bashrc
-grep -q -F "export GAZEBO_MODEL_PATH=~/fre_virtual_event/simple_world/:\$GAZEBO_MODEL_PATH" ~/.bashrc || echo "export GAZEBO_MODEL_PATH=~/fre_virtual_event/simple_world/:\$GAZEBO_MODEL_PATH" >> ~/.bashrc
+grep -q -F "export GAZEBO_MODEL_PATH=~/fre_virtual_event/src/simple_world/:\$GAZEBO_MODEL_PATH" ~/.bashrc || echo "export GAZEBO_MODEL_PATH=~/fre_virtual_event/src/simple_world/:\$GAZEBO_MODEL_PATH" >> ~/.bashrc
+
+# automatically source the simple world workspace
+grep -q -F "source ~/fre_virtual_event/devel/setup.bash" ~/.bashrc || echo "source ~/fre_virtual_event/devel/setup.bash" >> ~/.bashrc
 
 # update the current terminal with the newly added settings
 source ~/.bashrc

src/simple_world/launch/mais_world.launch

-<?xml version='1.0'?>
-<launch>  
-<!-- Launch Gazebo with the specified world -->
-	<include file="$(find gazebo_ros)/launch/empty_world.launch">
-		<!-- <arg name="world_name" value="~/fre_virtual_event/simple_world/simple_world.world"/> -->
-		<arg name="use_sim_time" value="true"/>
-		<arg name="gui" value="true"/>
-		<arg name="paused" value="false"/>
-		<arg name="headless" value="false"/>
-		<arg name="recording" value="false"/>
-	</include>
-</launch>

src/simple_world/launch/simple_world.launch

@@ -3,7 +3,7 @@
   <arg name="use_sim_time" default="true" />
   <arg name="gui" default="true" />
   <arg name="headless" default="false" />
-  <arg name="world_name" default="~/fre_virtual_event/simple_world/simple_world.world" />
+  <arg name="world_name" value="$(find simple_world)/simple_world.world"/>
 
   <!-- Short-term hack to support the original front_laser:=true argument for spawning
        the simulator. This will be removed in favour of using the config:=x arg instead. -->
@@ -30,8 +30,8 @@
 
   <!-- Spawn Jackal -->
   <include file="$(find jackal_gazebo)/launch/spawn_jackal.launch">
-    <arg name="x" value="-0.75" />
-    <arg name="y" value="0.35" />
+    <arg name="x" value="-2" />
+    <arg name="y" value="-0.75" />
     <arg name="z" value="1.0" />
     <arg name="yaw" value="0" />
     <arg name="config" value="$(arg config)" />

src/simple_world/simple_world.world

@@ -12,7 +12,7 @@
       <uri>model://ground_plane</uri>
     </include>
 
-    <!-- Testing the automatic population of objects -->
+    <!-- Automatic population of objects -->
     <population name="maize_field">
       <model name="maize_cylinder">
         <include>