From 7160ce68096ed355e519d1baab50c37c5499a37e Mon Sep 17 00:00:00 2001
From: "ly.pechvattana" <ly.pechvattana@ecam.fr>
Date: Tue, 29 Aug 2023 05:23:09 -0700
Subject: [PATCH] adding gazebo.launch

---
 .catkin_workspace                             |  1 +
 .vscode/c_cpp_properties.json                 | 21 +++++++++++++++++++
 .vscode/settings.json                         |  8 +++++++
 .../launch/gazebo.launch                      | 21 +++++++++++++++++++
 .../urdf/turtlebot.urdf.xacro                 |  4 ++--
 5 files changed, 53 insertions(+), 2 deletions(-)
 create mode 100644 .catkin_workspace
 create mode 100644 .vscode/c_cpp_properties.json
 create mode 100644 .vscode/settings.json

diff --git a/.catkin_workspace b/.catkin_workspace
new file mode 100644
index 0000000..52fd97e
--- /dev/null
+++ b/.catkin_workspace
@@ -0,0 +1 @@
+# This file currently only serves to mark the location of a catkin workspace for tool integration
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..eea29b3
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,21 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/opt/ros/noetic/include/**",
+        "/home/sasu/kubot_ws/src/kubot_description/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..d1fc194
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,8 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ]
+}
\ No newline at end of file
diff --git a/src/turtlebot_description/launch/gazebo.launch b/src/turtlebot_description/launch/gazebo.launch
index e69de29..dd06c02 100644
--- a/src/turtlebot_description/launch/gazebo.launch
+++ b/src/turtlebot_description/launch/gazebo.launch
@@ -0,0 +1,21 @@
+<launch>
+   <arg name="model" default="$(find kubot_description)/urdf/kubot.urdf.xacro"/>
+   <arg name="world" default="$(find kubot_description)/worlds/ku_lab/ku_model.sdf"/>
+   <!-- <arg name="world" default="empty_world"/> -->
+   
+   <param name="robot_description" command="$(find xacro)/xacro '$(find turtlebot_description)/urdf/turtlebot.urdf.xacro'" />
+   
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+        <arg name="world_name" value="$(arg world)"/>
+        <arg name="paused" value="false"/>
+        <arg name="use_sim_time" value="true"/>
+        <arg name="gui" value="true"/>
+        <arg name="recording" value="false"/>
+        <arg name="debug" value="false"/>
+    </include>
+
+    <node pkg="gazebo_ros" type="spawn_model" name="spawn_model"
+        args="-unpause -urdf -model robot -param robot_description"
+        output="screen" respawn="false"/>
+
+</launch>
\ No newline at end of file
diff --git a/src/turtlebot_description/urdf/turtlebot.urdf.xacro b/src/turtlebot_description/urdf/turtlebot.urdf.xacro
index 50b7bd5..7a52a97 100644
--- a/src/turtlebot_description/urdf/turtlebot.urdf.xacro
+++ b/src/turtlebot_description/urdf/turtlebot.urdf.xacro
@@ -19,7 +19,7 @@
         <collision>
             <origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
             <geometry>
-            <box size="0.266 0.266 0.094"/>
+                <box size="0.266 0.266 0.094"/>
             </geometry>
         </collision>
 
@@ -44,7 +44,7 @@
         <collision>
             <origin xyz="0 0 0" rpy="0 0 0"/>
             <geometry>
-            <cylinder length="0.018" radius="0.033"/>
+                <cylinder length="0.018" radius="0.033"/>
             </geometry>
         </collision>