From ded92bb2f23ae49bbc91405d0623dd8a2273ae83 Mon Sep 17 00:00:00 2001
From: JPBenetti <joaopedrobenetti2009@gmail.com>
Date: Thu, 10 Apr 2025 09:21:43 +0200
Subject: [PATCH] changes to spawn world a new world

---
 .../config/rbvogui/bridge.yaml                |   62 +-
 .../launch/spawn_robot.launch.py              |   11 +-
 .../launch/spawn_world.launch.py              |    8 +-
 .../{ignition/demo.sdf.world => demo.sdf}     |    0
 robotnik_gazebo_ignition/worlds/demo.world    | 2874 -----------------
 robotnik_gazebo_ignition/worlds/maze.world    | 2874 -----------------
 robotnik_gazebo_ignition/worlds/pasillo.sdf   |  921 ++++++
 .../worlds/vineyard.world                     | 1687 ----------
 .../worlds/willow_garage.world                |   35 -
 9 files changed, 961 insertions(+), 7511 deletions(-)
 rename robotnik_gazebo_ignition/worlds/{ignition/demo.sdf.world => demo.sdf} (100%)
 delete mode 100644 robotnik_gazebo_ignition/worlds/demo.world
 delete mode 100644 robotnik_gazebo_ignition/worlds/maze.world
 create mode 100644 robotnik_gazebo_ignition/worlds/pasillo.sdf
 delete mode 100644 robotnik_gazebo_ignition/worlds/vineyard.world
 delete mode 100644 robotnik_gazebo_ignition/worlds/willow_garage.world

diff --git a/robotnik_gazebo_ignition/config/rbvogui/bridge.yaml b/robotnik_gazebo_ignition/config/rbvogui/bridge.yaml
index 672037d..c9de281 100644
--- a/robotnik_gazebo_ignition/config/rbvogui/bridge.yaml
+++ b/robotnik_gazebo_ignition/config/rbvogui/bridge.yaml
@@ -5,45 +5,45 @@
   direction: GZ_TO_ROS
 
 # gz topic published by Sensors plugin
-- ros_topic_name: "/robot/front_laser/scan"
-  gz_topic_name: "/robot/front_laser/scan"
-  ros_type_name: "sensor_msgs/msg/LaserScan"
-  gz_type_name: "gz.msgs.LaserScan"
-  direction: GZ_TO_ROS
+#- ros_topic_name: "/robot/front_laser/scan"
+#  gz_topic_name: "/robot/front_laser/scan"
+#  ros_type_name: "sensor_msgs/msg/LaserScan"
+#  gz_type_name: "gz.msgs.LaserScan"
+#  direction: GZ_TO_ROS
 
 #gz topic published by Sensors plugin
-- ros_topic_name: "/robot/rear_laser/scan"
-  gz_topic_name: "/robot/rear_laser/scan"
-  ros_type_name: "sensor_msgs/msg/LaserScan"
-  gz_type_name: "gz.msgs.LaserScan"
-  direction: GZ_TO_ROS
+#- ros_topic_name: "/robot/rear_laser/scan"
+#  gz_topic_name: "/robot/rear_laser/scan"
+#  ros_type_name: "sensor_msgs/msg/LaserScan"
+#  gz_type_name: "gz.msgs.LaserScan"
+#  direction: GZ_TO_ROS
 
 # gz topic published by Sensors plugin (Camera)
-- ros_topic_name: "/robot/front_rgbd_camera/color/camera_info"
-  gz_topic_name: "/robot/front_camera_color/color/camera_info"
-  ros_type_name: "sensor_msgs/msg/CameraInfo"
-  gz_type_name: "gz.msgs.CameraInfo"
-  direction: GZ_TO_ROS
+#- ros_topic_name: "/robot/front_rgbd_camera/color/camera_info"
+#  gz_topic_name: "/robot/front_camera_color/color/camera_info"
+#  ros_type_name: "sensor_msgs/msg/CameraInfo"
+#  gz_type_name: "gz.msgs.CameraInfo"
+#  direction: GZ_TO_ROS
 
-- ros_topic_name: "/robot/front_rgbd_camera/color/image_raw"
-  gz_topic_name: "/robot/front_camera_color/color/image_raw"
-  ros_type_name: "sensor_msgs/msg/Image"
-  gz_type_name: "gz.msgs.Image"
-  direction: GZ_TO_ROS
+#- ros_topic_name: "/robot/front_rgbd_camera/color/image_raw"
+#  gz_topic_name: "/robot/front_camera_color/color/image_raw"
+#  ros_type_name: "sensor_msgs/msg/Image"
+#  gz_type_name: "gz.msgs.Image"
+#  direction: GZ_TO_ROS
 
-- ros_topic_name: "/robot/rear_rgbd_camera/color/camera_info"
-  gz_topic_name: "/robot/rear_camera_color/color/camera_info"
-  ros_type_name: "sensor_msgs/msg/CameraInfo"
-  gz_type_name: "gz.msgs.CameraInfo"
-  direction: GZ_TO_ROS
+#- ros_topic_name: "/robot/rear_rgbd_camera/color/camera_info"
+#  gz_topic_name: "/robot/rear_camera_color/color/camera_info"
+#  ros_type_name: "sensor_msgs/msg/CameraInfo"
+#  gz_type_name: "gz.msgs.CameraInfo"
+#  direction: GZ_TO_ROS
 
-- ros_topic_name: "/robot/rear_rgbd_camera/color/image_raw"
-  gz_topic_name: "/robot/rear_camera_color/color/image_raw"
-  ros_type_name: "sensor_msgs/msg/Image"
-  gz_type_name: "gz.msgs.Image"
-  direction: GZ_TO_ROS
+#- ros_topic_name: "/robot/rear_rgbd_camera/color/image_raw"
+#  gz_topic_name: "/robot/rear_camera_color/color/image_raw"
+#  ros_type_name: "sensor_msgs/msg/Image"
+#  gz_type_name: "gz.msgs.Image"
+#  direction: GZ_TO_ROS
 
-# gz topic published by Sensors plugin (IMU)
+  #gz topic published by Sensors plugin (IMU)
 - ros_topic_name: "/robot/imu/data"
   gz_topic_name: "/robot/imu/data"
   ros_type_name: "sensor_msgs/msg/Imu"
diff --git a/robotnik_gazebo_ignition/launch/spawn_robot.launch.py b/robotnik_gazebo_ignition/launch/spawn_robot.launch.py
index a4370f0..d2fffaa 100644
--- a/robotnik_gazebo_ignition/launch/spawn_robot.launch.py
+++ b/robotnik_gazebo_ignition/launch/spawn_robot.launch.py
@@ -216,15 +216,14 @@ def generate_launch_description():
     ld.add_action(init_robotnik_controller)
     
     rviz2_config = [get_package_share_directory('robotnik_gazebo_ignition'),'/config/', robot,'/rviz_config.rviz']
+    
     rviz2 = Node(
         package="rviz2",
         executable="rviz2",
-        parameters=[
-            {'display_config': bridge_params},
-        ],
-        namespace=params['namespace']
+        namespace=params['namespace'],
+        arguments=['-d', rviz2_config]
+
     )
     ld.add_action(rviz2)
 
-    return ld
-
+    return ld
\ No newline at end of file
diff --git a/robotnik_gazebo_ignition/launch/spawn_world.launch.py b/robotnik_gazebo_ignition/launch/spawn_world.launch.py
index 993566e..b388629 100644
--- a/robotnik_gazebo_ignition/launch/spawn_world.launch.py
+++ b/robotnik_gazebo_ignition/launch/spawn_world.launch.py
@@ -43,16 +43,16 @@ def generate_launch_description():
 
     arg = ExtendedArgument(
         name='world',
-        description='world in gazebo classic',
-        default_value='demo.sdf.world',
+        description='world in gazebo ignition',
+        default_value='demo.sdf',
         # default_value='warehouse_big.sdf',
     )
     add_to_launcher.add_arg(arg)
 
     arg = ExtendedArgument(
         name='world_path',
-        description='world path in gazebo classic',
-        default_value=[FindPackageShare('robotnik_gazebo_ignition'), '/worlds/ignition/', world],
+        description='world path in gazebo ignition',
+        default_value=[FindPackageShare('robotnik_gazebo_ignition'), '/worlds/', world],
     )
     add_to_launcher.add_arg(arg)
 
diff --git a/robotnik_gazebo_ignition/worlds/ignition/demo.sdf.world b/robotnik_gazebo_ignition/worlds/demo.sdf
similarity index 100%
rename from robotnik_gazebo_ignition/worlds/ignition/demo.sdf.world
rename to robotnik_gazebo_ignition/worlds/demo.sdf
diff --git a/robotnik_gazebo_ignition/worlds/demo.world b/robotnik_gazebo_ignition/worlds/demo.world
deleted file mode 100644
index 83e6c78..0000000
--- a/robotnik_gazebo_ignition/worlds/demo.world
+++ /dev/null
@@ -1,2874 +0,0 @@
-<sdf version='1.6'>
-  <world name='default'>
-    <light name='sun' type='directional'>
-      <cast_shadows>1</cast_shadows>
-      <pose frame=''>0 0 10 0 -0 0</pose>
-      <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.2 0.2 0.2 1</specular>
-      <attenuation>
-        <range>1000</range>
-        <constant>0.9</constant>
-        <linear>0.01</linear>
-        <quadratic>0.001</quadratic>
-      </attenuation>
-      <direction>-0.5 0.1 -0.9</direction>
-    </light>
-    <model name='ground_plane'>
-      <static>1</static>
-      <link name='link'>
-        <collision name='collision'>
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-          <surface>
-            <contact>
-              <collide_bitmask>65535</collide_bitmask>
-              <ode/>
-            </contact>
-            <friction>
-              <ode>
-                <mu>100</mu>
-                <mu2>50</mu2>
-              </ode>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
-            <bounce/>
-          </surface>
-          <max_contacts>10</max_contacts>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    <gravity>0 0 -9.8</gravity>
-    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
-    <atmosphere type='adiabatic'/>
-    <physics name='default_physics' default='0' type='ode'>
-      <max_step_size>0.001</max_step_size>
-      <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>1000</real_time_update_rate>
-    </physics>
-    <scene>
-      <ambient>0.4 0.4 0.4 1</ambient>
-      <background>0.7 0.7 0.7 1</background>
-      <shadows>1</shadows>
-    </scene>
-    <wind/>
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <latitude_deg>0</latitude_deg>
-      <longitude_deg>0</longitude_deg>
-      <elevation>0</elevation>
-      <heading_deg>0</heading_deg>
-    </spherical_coordinates>
-    <model name='demo'>
-      <pose frame=''>0.446728 1.67861 0 0 -0 0</pose>
-      <link name='Wall_10'>
-        <collision name='Wall_10_Collision'>
-          <geometry>
-            <box>
-              <size>12.75 0.15 2.5</size>
-            </box>
-          </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Wall_10_Visual'>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>12.75 0.15 2.5</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <pose frame=''>1.48611 -9.23618 0 0 -0 3.14159</pose>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <link name='Wall_100'>
-        <collision name='Wall_100_Collision'>
-          <geometry>
-            <box>
-              <size>7 0.15 2.5</size>
-            </box>
-          </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Wall_100_Visual'>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>7 0.15 2.5</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <pose frame=''>17.3507 15.234 0 0 -0 1.5708</pose>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <link name='Wall_101'>
-        <collision name='Wall_101_Collision'>
-          <geometry>
-            <box>
-              <size>34.8299 0.15 2.5</size>
-            </box>
-          </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Wall_101_Visual'>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>34.8299 0.15 2.5</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <pose frame=''>0.010798 18.6989 0 0 -0 3.13929</pose>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <link name='Wall_104'>
-        <collision name='Wall_104_Collision'>
-          <geometry>
-            <box>
-              <size>7.07983 0.15 2.5</size>
-            </box>
-          </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Wall_104_Visual'>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>7.07983 0.15 2.5</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <pose frame=''>-17.3392 15.2739 0 0 -0 1.56788</pose>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <link name='Wall_107'>
-        <collision name='Wall_107_Collision'>
-          <geometry>
-            <box>
-              <size>22.25 0.15 2.5</size>
-            </box>
-          </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Wall_107_Visual'>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>22.25 0.15 2.5</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <pose frame=''>-6.08605 11.73 0 0 -0 3.14159</pose>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <link name='Wall_111'>
-        <collision name='Wall_111_Collision'>
-          <geometry>
-            <box>
-              <size>4.25 0.15 2.5</size>
-            </box>
-          </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Wall_111_Visual'>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>4.25 0.15 2.5</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <pose frame=''>-11.3492 16.6603 0 0 -0 -1.5708</pose>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <link name='Wall_112'>
-        <collision name='Wall_112_Collision'>
-          <geometry>
-            <box>
-              <size>2.75 0.15 2.5</size>
-            </box>
-          </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Wall_112_Visual'>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>2.75 0.15 2.5</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <pose frame=''>-12.6492 14.6103 0 0 -0 3.14159</pose>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <link name='Wall_114'>
-        <collision name='Wall_114_Collision'>
-          <geometry>
-            <box>
-              <size>4.25 0.15 2.5</size>
-            </box>
-          </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Wall_114_Visual'>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>4.25 0.15 2.5</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <pose frame=''>-5.22807 16.6603 0 0 -0 -1.5708</pose>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <link name='Wall_115'>
-        <collision name='Wall_115_Collision'>
-          <geometry>
-            <box>
-              <size>3.25 0.15 2.5</size>
-            </box>
-          </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Wall_115_Visual'>
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diff --git a/robotnik_gazebo_ignition/worlds/maze.world b/robotnik_gazebo_ignition/worlds/maze.world
deleted file mode 100644
index 83e6c78..0000000
--- a/robotnik_gazebo_ignition/worlds/maze.world
+++ /dev/null
@@ -1,2874 +0,0 @@
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-    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
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-      <longitude_deg>0</longitude_deg>
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-        <scale>1 1 1</scale>
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-          <wrench>0 0 0 0 -0 0</wrench>
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-      </model>
-      <light name='sun'>
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-      </light>
-    </state>
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
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-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
-  </world>
-</sdf>
diff --git a/robotnik_gazebo_ignition/worlds/pasillo.sdf b/robotnik_gazebo_ignition/worlds/pasillo.sdf
new file mode 100644
index 0000000..7516bfd
--- /dev/null
+++ b/robotnik_gazebo_ignition/worlds/pasillo.sdf
@@ -0,0 +1,921 @@
+<sdf version='1.7'>
+  <world name='default'>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+      <spot>
+        <inner_angle>0</inner_angle>
+        <outer_angle>0</outer_angle>
+        <falloff>0</falloff>
+      </spot>
+    </light>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <contact>
+              <collide_bitmask>65535</collide_bitmask>
+              <ode/>
+            </contact>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <wind/>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <model name='pasillo'>
+      <pose>0.156829 -0.015208 0 0 -0 0</pose>
+      <link name='Wall_10'>
+        <pose>14.837 -3.47359 0 0 -0 -1.5708</pose>
+        <visual name='Wall_10_Visual_0'>
+          <pose>-1.72883 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.54233 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Wall_10_Collision_0'>
+          <geometry>
+            <box>
+              <size>1.54233 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose>-1.72883 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_10_Visual_1'>
+          <pose>1.22117 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>2.55767 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Wall_10_Collision_1'>
+          <geometry>
+            <box>
+              <size>2.55767 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose>1.22117 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_10_Visual_2'>
+          <pose>-0.507666 0 2.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Wall_10_Collision_2'>
+          <geometry>
+            <box>
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+            </box>
+          </geometry>
+          <pose>-0.507666 0 2.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
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+                <ode/>
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+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_12'>
+        <collision name='Wall_12_Collision'>
+          <geometry>
+            <box>
+              <size>5 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose>0 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_12_Visual'>
+          <pose>0 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>5 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <pose>14.866 3.5384 0 0 -0 -1.5708</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_14'>
+        <collision name='Wall_14_Collision'>
+          <geometry>
+            <box>
+              <size>7 0.15 2.5</size>
+            </box>
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+          <material>
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+              <name>Gazebo/Wood</name>
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+    <state world_name='default'>
+      <sim_time>141 796000000</sim_time>
+      <real_time>30 617981856</real_time>
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+      <iterations>29835</iterations>
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+      </model>
+      <light name='sun'>
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+      </light>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
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+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <model name='shelf_aruco_0'>
+    <include>
+      <uri>https://fuel.gazebosim.org/1.0/myoan/models/Shelf with ARUco boxes</uri>
+      <pose>-18.3084 -5.52903 0 0 -0 0</pose>
+    </include>
+    </model>
+
+    <model name='shelf_aruco_1'>
+    <include>
+      <uri>https://fuel.gazebosim.org/1.0/myoan/models/Shelf with ARUco boxes</uri>
+      <pose>-18.1002 5.45946 0 0 -0 0</pose>
+    </include>
+    </model>
+
+    <model name='shelf_aruco_2'>
+    <include>
+      <uri>https://fuel.gazebosim.org/1.0/myoan/models/Shelf with ARUco boxes</uri>
+      <pose>18.854 5.40221 0 0 -0 0</pose>
+    </include>
+    </model>
+
+    <model name='shelf_aruco_3'>
+    <include>
+      <uri>https://fuel.gazebosim.org/1.0/myoan/models/Shelf with ARUco boxes</uri>
+      <pose>18.8994 -5.42347 0 0 -0 0</pose>
+    </include>
+    </model>
+  </world>
+</sdf>
diff --git a/robotnik_gazebo_ignition/worlds/vineyard.world b/robotnik_gazebo_ignition/worlds/vineyard.world
deleted file mode 100644
index 4b53a52..0000000
--- a/robotnik_gazebo_ignition/worlds/vineyard.world
+++ /dev/null
@@ -1,1687 +0,0 @@
-<sdf version='1.6'>
-  <world name='default'>
-    <physics name='default_physics' default='0' type='ode'>
-      <ode>
-        <solver>
-          <type>quick</type>
-          <iters>20</iters>
-          <sor>1</sor>
-          <use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
-        </solver>
-        <constraints>
-          <cfm>0</cfm>
-          <erp>0.2</erp>
-          <contact_max_correcting_vel>100</contact_max_correcting_vel>
-          <contact_surface_layer>0</contact_surface_layer>
-        </constraints>
-      </ode>
-      <max_step_size>0.001</max_step_size>
-      <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>1000</real_time_update_rate>
-    </physics>
-    <light name='sun' type='directional'>
-      <cast_shadows>1</cast_shadows>
-      <pose frame=''>0 0 10 0 -0 0</pose>
-      <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.2 0.2 0.2 1</specular>
-      <attenuation>
-        <range>1000</range>
-        <constant>0.9</constant>
-        <linear>0.01</linear>
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-          <geometry>
-            <mesh>
-              <uri>model://vineyard4/meshes/Grape4_low.dae</uri>
-              <scale>0.02 0.02 0.02</scale>
-            </mesh>
-          </geometry>
-          <surface>
-            <bounce/>
-            <friction>
-              <ode/>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
-            <contact>
-              <ode/>
-            </contact>
-          </surface>
-        </collision>
-        <visual name='visual4'>
-          <pose frame=''>0 0 0 0 -0 0</pose>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <mesh>
-              <uri>model://vineyard4/meshes/Grape4_low.dae</uri>
-              <scale>0.02 0.02 0.02</scale>
-            </mesh>
-          </geometry>
-        </visual>
-        <velocity_decay>
-          <linear>0</linear>
-          <angular>0</angular>
-        </velocity_decay>
-        <self_collide>0</self_collide>
-        <kinematic>0</kinematic>
-        <gravity>1</gravity>
-        <enable_wind>0</enable_wind>
-      </link>
-      <pose frame=''>2 5 0 0 -0 0</pose>
-    </model>
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <latitude_deg>0</latitude_deg>
-      <longitude_deg>0</longitude_deg>
-      <elevation>0</elevation>
-      <heading_deg>0</heading_deg>
-    </spherical_coordinates>
-    <model name='vineyard0'>
-      <static>1</static>
-      <link name='link'>
-        <collision name='collision0'>
-          <pose frame=''>0 0 0 0 -0 0</pose>
-          <max_contacts>1</max_contacts>
-          <laser_retro>1</laser_retro>
-          <geometry>
-            <mesh>
-              <uri>model://vineyard0/meshes/Grape0_low.dae</uri>
-              <scale>0.02 0.02 0.02</scale>
-            </mesh>
-          </geometry>
-          <surface>
-            <bounce/>
-            <friction>
-              <ode/>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
-            <contact>
-              <ode/>
-            </contact>
-          </surface>
-        </collision>
-        <visual name='visual0'>
-          <pose frame=''>0 0 0 0 -0 0</pose>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <mesh>
-              <uri>model://vineyard0/meshes/Grape0_low.dae</uri>
-              <scale>0.02 0.02 0.02</scale>
-            </mesh>
-          </geometry>
-        </visual>
-        <velocity_decay>
-          <linear>0</linear>
-          <angular>0</angular>
-        </velocity_decay>
-        <self_collide>0</self_collide>
-        <kinematic>0</kinematic>
-        <gravity>1</gravity>
-        <enable_wind>0</enable_wind>
-      </link>
-      <pose frame=''>-8.40975 1 0 0 -0 0</pose>
-    </model>
-    <model name='vineyard0_0'>
-      <static>1</static>
-      <link name='link'>
-        <collision name='collision0'>
-          <pose frame=''>0 0 0 0 -0 0</pose>
-          <max_contacts>1</max_contacts>
-          <laser_retro>1</laser_retro>
-          <geometry>
-            <mesh>
-              <uri>model://vineyard0/meshes/Grape0_low.dae</uri>
-              <scale>0.02 0.02 0.02</scale>
-            </mesh>
-          </geometry>
-          <surface>
-            <bounce/>
-            <friction>
-              <ode/>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
-            <contact>
-              <ode/>
-            </contact>
-          </surface>
-        </collision>
-        <visual name='visual0'>
-          <pose frame=''>0 0 0 0 -0 0</pose>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <mesh>
-              <uri>model://vineyard0/meshes/Grape0_low.dae</uri>
-              <scale>0.02 0.02 0.02</scale>
-            </mesh>
-          </geometry>
-        </visual>
-        <velocity_decay>
-          <linear>0</linear>
-          <angular>0</angular>
-        </velocity_decay>
-        <self_collide>0</self_collide>
-        <kinematic>0</kinematic>
-        <gravity>1</gravity>
-        <enable_wind>0</enable_wind>
-      </link>
-      <pose frame=''>-5 3 0 0 -0 0</pose>
-    </model>
-    <model name='vineyard0_1'>
-      <static>1</static>
-      <link name='link'>
-        <collision name='collision0'>
-          <pose frame=''>0 0 0 0 -0 0</pose>
-          <max_contacts>1</max_contacts>
-          <laser_retro>1</laser_retro>
-          <geometry>
-            <mesh>
-              <uri>model://vineyard0/meshes/Grape0_low.dae</uri>
-              <scale>0.02 0.02 0.02</scale>
-            </mesh>
-          </geometry>
-          <surface>
-            <bounce/>
-            <friction>
-              <ode/>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
-            <contact>
-              <ode/>
-            </contact>
-          </surface>
-        </collision>
-        <visual name='visual0'>
-          <pose frame=''>0 0 0 0 -0 0</pose>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <mesh>
-              <uri>model://vineyard0/meshes/Grape0_low.dae</uri>
-              <scale>0.02 0.02 0.02</scale>
-            </mesh>
-          </geometry>
-        </visual>
-        <velocity_decay>
-          <linear>0</linear>
-          <angular>0</angular>
-        </velocity_decay>
-        <self_collide>0</self_collide>
-        <kinematic>0</kinematic>
-        <gravity>1</gravity>
-        <enable_wind>0</enable_wind>
-      </link>
-      <pose frame=''>-3 5 0 0 -0 0</pose>
-    </model>
-    <model name='vineyard0_2'>
-      <static>1</static>
-      <link name='link'>
-        <collision name='collision0'>
-          <pose frame=''>0 0 0 0 -0 0</pose>
-          <max_contacts>1</max_contacts>
-          <laser_retro>1</laser_retro>
-          <geometry>
-            <mesh>
-              <uri>model://vineyard0/meshes/Grape0_low.dae</uri>
-              <scale>0.02 0.02 0.02</scale>
-            </mesh>
-          </geometry>
-          <surface>
-            <bounce/>
-            <friction>
-              <ode/>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
-            <contact>
-              <ode/>
-            </contact>
-          </surface>
-        </collision>
-        <visual name='visual0'>
-          <pose frame=''>0 0 0 0 -0 0</pose>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <mesh>
-              <uri>model://vineyard0/meshes/Grape0_low.dae</uri>
-              <scale>0.02 0.02 0.02</scale>
-            </mesh>
-          </geometry>
-        </visual>
-        <velocity_decay>
-          <linear>0</linear>
-          <angular>0</angular>
-        </velocity_decay>
-        <self_collide>0</self_collide>
-        <kinematic>0</kinematic>
-        <gravity>1</gravity>
-        <enable_wind>0</enable_wind>
-      </link>
-      <pose frame=''>-8 5 0 0 -0 0</pose>
-    </model>
-    <gravity>0 0 -9.8</gravity>
-    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
-    <atmosphere type='adiabatic'/>
-    <wind/>
-  </world>
-</sdf>
diff --git a/robotnik_gazebo_ignition/worlds/willow_garage.world b/robotnik_gazebo_ignition/worlds/willow_garage.world
deleted file mode 100644
index 2a0473c..0000000
--- a/robotnik_gazebo_ignition/worlds/willow_garage.world
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.4">
-	<world name="default">
-		<physics type="ode">
-			<!--gravity>0 0 -1</gravity-->
-			<gravity>0 0 -9.8</gravity>
-			<ode>
-				<solver>
-					<type>quick</type>
-					<iters>40</iters>
-					<sor>1.0</sor>
-				</solver>
-				<constraints>
-					<cfm>0.0</cfm>
-					<erp>0.2</erp>
-					<contact_max_correcting_vel>100.0</contact_max_correcting_vel>
-					<contact_surface_layer>0.0</contact_surface_layer>
-				</constraints>
-			</ode>
-			<max_step_size>0.001</max_step_size>
-		</physics>
-		<!-- A global light source -->
-		<include>
-			<uri>model://sun</uri>
-		</include>
-		<!-- A ground plane -->
-		<include>
-			<uri>model://ground_plane</uri>
-		</include>
-		<include>
-			<uri>model://willowgarage</uri>
-			<pose>-16 -18 0.001 0 0 0</pose>
-		</include>
-	</world>
-</sdf>