fixed package.xml and removed centenario_empty.world

diff --git a/launch/gazebo.launch.xml b/launch/gazebo.launch.xml
index 9945be1..62e6279 100644 (file)
--- a/launch/gazebo.launch.xml
+++ b/launch/gazebo.launch.xml
@@ -2,7 +2,7 @@
     <arg name="pause" default="true" />
     <arg name="gui" default="true" />
     <arg name="use_sim_time" default="true" />
-    <arg name="world" default="$(find-pkg-share ufrgs_gazebo)/worlds/centenario_empty.world" />
+    <arg name="world" default="$(find-pkg-share ufrgs_gazebo)/worlds/centenario.world" />
 
     <include file="$(find-pkg-share gazebo_ros)/launch/gazebo.launch.py">
         <arg name="pause" value="$(var pause)" />

diff --git a/package.xml b/package.xml
index 2bc37ec..7c933cc 100644 (file)
--- a/package.xml
+++ b/package.xml
@@ -14,7 +14,7 @@
 
     <export>
         <build_type>ament_cmake</build_type>
-        <gazebo_ros gazebo_model_path="${prefix}/models" />
+        <gazebo_ros gazebo_model_path="${prefix}/.." />
         <gazebo_ros gazebo_resource_path="${prefix}/.." />
     </export>
 </package>
\ No newline at end of file

diff --git a/worlds/centenario_empty.world b/worlds/centenario_empty.world
deleted file mode 100644 (file)
index 9536b65..0000000
--- a/worlds/centenario_empty.world
+++ /dev/null
@@ -1,33 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.5">
-    <world name="default">
-        <scene>
-            <sky>
-                <clouds>
-                    <speed>12</speed>
-                </clouds>
-            </sky>
-        </scene>
-        <include>
-            <uri>model://centenario</uri>
-        </include>
-        <!-- A global light source -->
-        <include>
-            <uri>model://sun</uri>
-        </include>
-        <!-- A ground plane -->
-        <include>
-            <uri>model://ground_plane</uri>
-        </include>
-        <spherical_coordinates>
-            <!-- currently gazebo has a bug: instead of outputing lat, long, altitude in ENU
-        (x = East, y = North and z = Up) as the default configurations, it's outputting (-E)(-N)U,
-        therefore we rotate the default frame 180 so that it would go back to ENU -->
-            <heading_deg>180</heading_deg>
-            <surface_model>EARTH_WGS84</surface_model>
-            <latitude_deg>-30.0277777777778</latitude_deg>
-            <longitude_deg>-51.228611111111</longitude_deg>
-            <elevation>22.0</elevation>
-        </spherical_coordinates>
-    </world>
-</sdf>