Turtlebot3.md

@@ -237,15 +237,25 @@ This configuration is stipulated in a launch type file. An example of launch fil
 In first, we define the robot configuration: 
 + the model `<arg name="model" default="burger" doc="model type [burger, waffle, waffle_pi]"/>`
 + the namespace `<arg name="first_tb3"  default="tb3_0"/>`
-+ the localization:
++ the localization `<arg name="first_tb3_x_pos" default="-7.0"/> <arg name="first_tb3_y_pos" <arg name="first_tb3_z_pos" default=" 0.0"/> <arg name="first_tb3_yaw"   default=" 1.57"/>default=" 0.0"/>`
+
+In second, we define the gazebo environment:
++ spatial environment `<arg name="world_name" value="$(find turtlebot3_gazebo)/models/turtlebot3_world/fayol-4et-1.sdf"/>`
++ simulation time `<arg name="use_sim_time" value="true"/>`
++ with user interface `<arg name="gui" value="true"/>`
+
+In last, we configure the robot deployment using group syntax: 
++ label of the namspace `<group ns = "$(arg first_tb3)">`
++ robot urdf `<param name="robot_description" command="$(find xacro)/xacro $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />`
++ robot intialization 
 ```
-  <arg name="first_tb3_x_pos" default="-7.0"/>
-  <arg name="first_tb3_y_pos" default=" 0.0"/>
-  <arg name="first_tb3_z_pos" default=" 0.0"/>
-  <arg name="first_tb3_yaw"   default=" 1.57"/>
+<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
+  <param name="publish_frequency" type="double" value="50.0" />
+  <param name="tf_prefix" value="$(arg first_tb3)" />
+</node>
+<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg first_tb3) -x $(arg first_tb3_x_pos) -y $(arg first_tb3_y_pos) -z $(arg first_tb3_z_pos) -Y $(arg first_tb3_yaw) -param robot_description" />
 ```
 
-
 ## visualize data of each robot in rviz
 
 # Use our turtlebot3 robots