mcity launching successfully

smilejx · Jun 21, 2017 · 84f2f13 · 84f2f13
1 parent f7d6e67
commit 84f2f13
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Showing 3 changed files with 5 additions and 1 deletion.
diff --git a/prius_description/launch/gazebo.launch b/prius_description/launch/gazebo.launch
@@ -6,6 +6,7 @@
 
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="verbose" value="true"/>
+    <arg name="world_name" value="$(find car_demo)/worlds/mcity.world"/>
   </include>
 
   <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model prius"/>

diff --git a/prius_plugin/CMakeLists.txt b/prius_plugin/CMakeLists.txt
@@ -31,6 +31,9 @@ install(TARGETS PriusHybridPlugin
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
+install(DIRECTORY models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+
 
 # TODO(tfoote) replace installers add_subdirectory(models)
 # TODO(tfoote) replace installers add_subdirectory(worlds)
diff --git a/prius_plugin/package.xml b/prius_plugin/package.xml
@@ -10,6 +10,6 @@
   <depend>gazebo_ros</depend>
   <export>
     <!-- Other tools can request additional information be placed here -->
-    <gazebo_ros plugin_path="${prefix}/lib" gazebo_media_path="${prefix}" />
+    <gazebo_ros plugin_path="${prefix}/lib" gazebo_media_path="${prefix}" gazebo_model_path="${prefix}/models"/>
   </export>
 </package>