#554 Enhancement of world package

Author: manuelgitgomes

atom_worlds/launch/calibration_studio.launch

@@ -2,7 +2,7 @@
 <launch>
 
     <!-- Gazebo -->
-    <arg name="world_name" default="$(find atom_worlds)/worlds/larcc.world" />
+    <arg name="world_name" default="$(find atom_worlds)/worlds/calibration_studio.world" />
     <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
     <arg name="gui" default="False" doc="Starts gazebo gui" />
 
@@ -11,7 +11,7 @@
     <rosparam file="$(find atom_worlds)/config/camera.yaml" />
 
     <!-- Start interactive pattern -->
-    <arg name="interactive_pattern" default="false" doc="Start autonomous pattern node" />
+    <arg name="interactive_pattern" default="false" doc="Start interactive pattern node" />
 
     <!-- Rviz  -->
     <arg name="launch_rviz" default="true" doc="Whether to launch RViz or not" />

atom_worlds/pattern/interactive_pattern/interactive_pattern

@@ -3,6 +3,7 @@
 # stdlib
 import sys
 import argparse
+import time
 
 # 3rd-party
 import rospkg
@@ -42,7 +43,7 @@ def makeBox( msg, pose):
                    pose=pose,
                    scale=Vector3(x=1.0, y=1.0, z=1.0),
                    color=ColorRGBA(r=1, g=1, b=1, a=1))
-    marker.mesh_resource = 'package://ur_e_description/meshes/charuco_800x600/charuco_800x600.dae'
+    marker.mesh_resource = 'package://atom_worlds/pattern/models/charuco_800x600/charuco_800x600.dae'
     marker.mesh_use_embedded_materials = True
     return marker
 

atom_worlds/pattern/meshes/charuco_800x600/charuco_800x600.dae atom_worlds/pattern/models/charuco_800x600/charuco_800x600.dae

@@ -57,7 +57,7 @@
         <range>1000</range>
         <constant>0.9</constant>
         <linear>0.01</linear>
-        <quadratic>0.001</quadratic>
+        <quadraic>0.001</quadraic>
       </attenuation>
       <direction>-0.5 0.1 -0.9</direction>
       <spot>
@@ -132,7 +132,7 @@
       </camera>
     </gui>
     <state world_name='default'>
-      <sim_time>830 318000000</sim_time>
+      <sim_time>0</sim_time>
       <real_time>214 175274448</real_time>
       <wall_time>1651740140 988331282</wall_time>
       <iterations>190110</iterations>