Heading Out (Coin Flip) Task #176
Description
Handbook with images: https://robonation.org/app/uploads/sites/4/2025/04/2025-RoboSub_Team-Handbook-04_25_25.pdf
Make 4 worlds in simulation, in which there are only the objects for Heading Out.
You should make a world for each possible positioning of the sub:
- facing the start gate
- parallel to dock(facing away from gate)
- parallel to dock(facing towards the gate)
- orthogonal to dock
You are going to be making files in src/subjugator/simulation/subjugator_gazebo/worlds
It will be a .world file, which is an xml file, so if upon making <insert_name>.world file you see that your code doesnt have color or is simply not working like it should, make sure that in the bottom right of VS Code screen it says XML not plain text. I thought it was a simple mistake to miss lol.
I think a good place to start is copying and pasting the robosub_2024.world code into your world and then removing alot of whats there, so you have a basic template.
To actually change which world is being used in gazebo you are gonna want to go to src/subjugator/subjugator_bringup/launch/gazebo.launch.py and change the world file being called to your world file.