Updated gamefield with the robot spawning in it

README.md

@@ -1,50 +1,125 @@
-# Step by Step guide to launching your robot in this world
+# Step by Step Guide to Launching Your Robot in This World
+
 First make sure you've installed Ignition Gazebo Fortress:
+
 ## Installing Ignition Gazebo Fortress
+
 First install some necessary tools:
+
 ```bash
 sudo apt-get update
 sudo apt-get install lsb-release gnupg
 ```
 
 Then install Ignition Fortress:
-```bash 
+
+```bash
 sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
 sudo apt-get update
 sudo apt-get install ignition-fortress
 ```
 
-All libraries should be ready to use and the ign gazebo app ready to be executed.
+All libraries should be ready to use and the Ignition Gazebo app ready to be executed.
 
+## Uninstalling Binary Install
 
-## Uninstalling binary install
 If you need to uninstall Ignition or switch to a source-based install once you have already installed the library from binaries, run the following command:
+
 ```bash
 sudo apt remove ignition-fortress && sudo apt autoremove
 ```
 
-### If you are using WSL2
-Run the following command on Windows Powershell as an Administrator:
+### If You Are Using WSL2
+
+Run the following command on Windows PowerShell as an Administrator:
 
 ```bash
 wsl --version
 ```
+
 If not WSL 2, run the following command:
+
 ```bash
 wsl --upgrade
 ```
-To use OPENGL Rendering, enter this command in WSL2 terminal:
+
+To use **OpenGL Rendering**, enter this command in the WSL2 terminal:
+
 ```bash
- export LIBGL_ALWAYS_SOFTWARE=1
- ```
-
+export LIBGL_ALWAYS_SOFTWARE=1
+```
+
+---
+
 More coming soon...
 
-More details on how to spawn your robot with this world
+More details on how to spawn your robot with this world.
 
-To view the world alone run the following command:
+### To View the World Alone
+
+Run the following command:
 
 ```bash
 ros2 launch gamefield launch_ign.launch.py
-```
+```
+
+### To Spawn the Robot in the Game Field at the Start Position
+
+1. Copy the folder:
+
+   ```
+   ./gamefield/sdf
+   ```
+
+   into your robot's workspace in the folder:
+
+   ```
+   ./src/<your_package>/worlds
+   ```
+
+2. Ensure that in the `gamefield.sdf` file (in `./src/<your_package>/worlds`) this line:
+
+   ```xml
+   <uri>model://gamefield/sdf/My_GF.dae</uri>
+   ```
+
+   and all of its instances change to the relative path of your `My_GF.dae`, i.e.:
+
+   ```xml
+   <uri>model://src/<your_package>/worlds/My_GF.dae</uri>
+   ```
+
+3. In your `launch_sim.launch.py`, assuming it is Gazebo Ignition Fortress compatible, change the name of the world to `gamefield.sdf`, i.e.:
+
+   ```python
+   default_world = os.path.join(get_package_share_directory(package_name), 'worlds', 'gamefield.sdf')
+   world = LaunchConfiguration('world')
+   world_arg = DeclareLaunchArgument(
+       'world', default_value=default_world, description='Path to the world SDF to load'
+   )
+   ```
+
+4. Build your workspace:
+
+   ```bash
+   colcon build --symlink-install
+   ```
+
+5. Source your workspace:
+
+   ```bash
+   source install/setup.bash
+   ```
+
+6. Then to launch the gamefield with the world in it, run:
+
+   ```bash
+   ros2 launch <your_package> launch_sim.launch.py
+   ```
+
+---
+
+**Heads up:** Ensure that your Gazebo clock is always running when trying to spawn the robot by clicking the play/pause button. A certain order is followed such that Gazebo should start with the world, then the robot spawns, then `joint_broad` starts, followed by `diff_cont`. Implement appropriate timer delays for this sequence to be followed rigidly.
+
+**Note:** These instructions assume that the migration from Gazebo Classic to Ignition Fortress was done, making the robot's URDF compatible or spawnable.