changes to spawn world a new world

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"

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

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)