Update camera pose and vessel start pose

vortexntnu · Aug 6, 2024 · ae68f2d · ae68f2d
1 parent 58a315c
commit ae68f2d
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/vrx_gz/launch/njord_colav_with_otter.launch.py b/vrx_gz/launch/njord_colav_with_otter.launch.py
@@ -44,7 +44,7 @@ def launch(context, *args, **kwargs):
         with open(config_file, 'r') as stream:
             models = Model.FromConfig(stream)
     else:
-        m = Model('wamv', 'wam-v', [-535, 197, 0, 0, 0, 0])
+        m = Model('wamv', 'wam-v', [-535, 197.5, 0, 0, 0, 0])
         if robot_urdf and robot_urdf != '':
             m.set_urdf(robot_urdf)
         models.append(m)
@@ -71,7 +71,7 @@ def generate_launch_description():
         # Launch Arguments
         DeclareLaunchArgument(
             'world',
-            default_value='sydney_regatta',
+            default_value='njord_colav_tasks',
             description='Name of world'),
         DeclareLaunchArgument(
             'sim_mode',

diff --git a/vrx_gz/worlds/njord_colav_tasks.sdf b/vrx_gz/worlds/njord_colav_tasks.sdf
@@ -22,7 +22,7 @@
         <scene>scene</scene>
         <ambient_light>0.4 0.4 0.4</ambient_light>
         <background_color>0.8 0.8 0.8</background_color>
-        <camera_pose>-478.1 148.2 13.2 0 0.25 2.94</camera_pose>
+        <camera_pose>-512.76 164.2 16.97 0 0.61 1.64</camera_pose>
         <camera_clip>
           <near>0.25</near>
           <far>10000</far>