Made cones work

src/dcaiti_control/description/yellow_cone.xacro

@@ -1,6 +1,24 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro"  name="dcaiti_control">
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro"  name="cone">
 
-    <model
+  <xacro:include filename="inertial_macros.xacro"/>
+
+    <link name="cone">
+      <collision>
+        <geometry>
+          <cylinder radius="0.112" length="0.3"/>
+        </geometry>
+      </collision>
+      <visual>
+        <geometry>
+          <!-- <cylinder radius="0.112" length="0.3"/>  -->
+          <mesh filename="file://$(find dcaiti_control)/description/assets/yellow_cone.dae"/>
+        </geometry>
+      </visual>
+      <xacro:solid_cylinder_inertial 
+          rpy="0 0 0" xyz="0 0 0"
+          mass="0.5"
+          radius="0.112" length="0.3" />
+    </link>
 
 </robot>

src/dcaiti_control/launch/launch_sim.py

@@ -17,7 +17,6 @@ from launch.actions import RegisterEventHandler
 from launch.event_handlers import OnProcessExit
 
 
-
 def generate_launch_description():
 
     # Include the robot_state_publisher launch file, provided by our own package. Force sim time to be enabled
@@ -34,6 +33,7 @@ def generate_launch_description():
     )
     gazebo_params_path = os.path.join(get_package_share_directory(package_name),'config','gazebo_config.yml')
     world_path = os.path.join(get_package_share_directory(package_name),'worlds')
+    description_path = os.path.join(get_package_share_directory(package_name),'description')
     # Include the Gazebo launch file, provided by the gazebo_ros package
 
     gazebo = IncludeLaunchDescription(
@@ -52,6 +52,17 @@ def generate_launch_description():
         output='screen'
     )
 
+    cone_xacro = f'{description_path}/yellow_cone.xacro'
+    cone_config = Command(['xacro ', cone_xacro])
+    spawn_cone = Node(package='ros_gz_sim', executable='create',
+        arguments=[
+            '-string', cone_config,
+            '-name', 'spawned_cone',
+            '-z', '10',
+            ],
+        output='screen'
+    )
+
     # Bridge
     bridge = Node(
         package='ros_gz_bridge',
@@ -104,6 +115,7 @@ def generate_launch_description():
         rsp,
         gazebo,
         spawn_entity,
+        spawn_cone,
         delayed_diff_drive_spawner,
         delayed_joint_broad_spawner,
     ])

src/dcaiti_control/launch/rsp.launch.py

@@ -22,7 +22,6 @@ def generate_launch_description():
     # Process the URDF file
     pkg_path = os.path.join(get_package_share_directory('dcaiti_control'))
     xacro_file = os.path.join(pkg_path,'description','robot.urdf.xacro')
-    # xacro_file = "/home/nvidia/ros2_humble/src/turtlebot3_simulations/turtlebot3_gazebo/urdf/turtlebot3_waffle.urdf"
     robot_description_config = Command(['xacro ', xacro_file, ' use_ros2_control:=', use_ros2_control, ' use_sim:=', use_sim_time])
     
     twist_mux_params = os.path.join(