Further nav2 work

src/dcaiti_control/launch/launch_sim.py

@@ -25,7 +25,7 @@ def generate_launch_description():
     package_name='dcaiti_control' #<--- CHANGE ME
 
     use_ros2_control = LaunchConfiguration('use_ros2_control')
-    world_path='~/.gazebo/models'
+    world_path='worlds/cafe.world'
 
     rsp = IncludeLaunchDescription(
                 PythonLaunchDescriptionSource([os.path.join(
@@ -34,6 +34,8 @@ def generate_launch_description():
     )
     gazebo_params_path = os.path.join(get_package_share_directory(package_name),'config','gazebo_config.yml')
     # Include the Gazebo launch file, provided by the gazebo_ros package
+  
+
     gazebo = IncludeLaunchDescription(
                 PythonLaunchDescriptionSource([os.path.join(
                     get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]),
@@ -44,7 +46,8 @@ def generate_launch_description():
     spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
         arguments=[
             '-topic', 'robot_description',
-            '-entity', 'dcaiti_control'
+            '-entity', 'dcaiti_control',
+            '-z', '0.2',
             ],
         output='screen'
     )

src/dcaiti_control/launch/rsp.launch.py

@@ -32,7 +32,8 @@ def generate_launch_description():
 
     node_joint_state_publisher = Node(
         package='joint_state_publisher',
-        executable='joint_state_publisher'
+        executable='joint_state_publisher',
+        parameters=[{'use_sim_time': use_sim_time}]
     )