How do I launch a robot like turtlebot in a custom made world
Hello, I created a world file in which i want to launch lets say the turtle bot.
In catkin_ws/src/turtlebot3_simulations/turtlebot3_gazebo/worlds i put my world file
and in catkin_ws/src/turtlebot3_simulations/turtlebot3_gazebo/launch i copied and edited a lauch file:
<launch> <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/> <arg name="x_pos" default="-2.0"/> <arg name="y_pos" default="-0.5"/> <arg name="z_pos" default="0.0"/>
<include file="$(find gazebo_ros)/launch/simpleWorld.launch"> <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/simpleWorld.world"/> <arg name="paused" value="false"/> <arg name="use_sim_time" value="true"/> <arg name="gui" value="true"/> <arg name="headless" value="false"/> <arg name="debug" value="false"/> </include>
<node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf" args="-urdf -model turtlebot3_$(arg model) -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description"/> </launch>
I edited so that in these two lines so that instead of emptyworld.world and emptyworld.launch there are my custom world: <include file="$(find gazebo_ros)/launch/simpleWorld.launch"> <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/simpleWorld.world"/>
and launching it i get following error:
RLException: while processing /opt/ros/noetic/share/gazebo_ros/launch/simpleWorld.launch: Invalid roslaunch XML syntax: [Errno 2] No such file or directory: '/opt/ros/noetic/share/gazebo_ros/launch/simpleWorld.launch' The traceback for the exception was written to the log file
So my question is what do i have to do to launch a turtlebot in a world that i created? It cant be so difficult