diff --git a/wild_visual_navigation_sim/CMakeLists.txt b/wild_visual_navigation_sim/CMakeLists.txt
index 292d6a43..e9f2026f 100644
--- a/wild_visual_navigation_sim/CMakeLists.txt
+++ b/wild_visual_navigation_sim/CMakeLists.txt
@@ -20,6 +20,7 @@ catkin_package(
# scripts/rosbag_play.sh
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+message(${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY launch Media worlds
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
\ No newline at end of file
diff --git a/wild_visual_navigation_sim/Media/models/heightmap.png b/wild_visual_navigation_sim/Media/models/heightmap.png
new file mode 100644
index 00000000..9ae5cb96
Binary files /dev/null and b/wild_visual_navigation_sim/Media/models/heightmap.png differ
diff --git a/wild_visual_navigation_sim/README.md b/wild_visual_navigation_sim/README.md
index e36be893..bb92611e 100644
--- a/wild_visual_navigation_sim/README.md
+++ b/wild_visual_navigation_sim/README.md
@@ -5,11 +5,16 @@ Simulation environment to test Wild Visual Navigation (WVN). We use a modified C
## Requirements
```sh
-sudo apt install ros-noetic-jackal-simulator
+$ sudo apt update
+$ sudo apt install -y \
+ ros-noetic-jackal-simulator \
+ ros-noetic-jackal-desktop \
+ ros-noetic-teleop-twist-keyboard \
+ ros-noetic-rqt-robot-steering \
```
## Running
```sh
-roslaunch wild_visual_navigation_sim sim.launch
+$ roslaunch wild_visual_navigation_sim sim.launch
```
diff --git a/wild_visual_navigation_sim/launch/sim.launch b/wild_visual_navigation_sim/launch/sim.launch
index 651df342..68e83fa8 100644
--- a/wild_visual_navigation_sim/launch/sim.launch
+++ b/wild_visual_navigation_sim/launch/sim.launch
@@ -8,11 +8,8 @@
-
+
-
-
-
@@ -30,7 +27,7 @@
-
+
diff --git a/wild_visual_navigation_sim/package.xml b/wild_visual_navigation_sim/package.xml
index 9e1e43b5..82f0e65b 100644
--- a/wild_visual_navigation_sim/package.xml
+++ b/wild_visual_navigation_sim/package.xml
@@ -20,5 +20,6 @@
gazebo_ros
+
diff --git a/wild_visual_navigation_sim/worlds/outdoor.world b/wild_visual_navigation_sim/worlds/outdoor.world
new file mode 100644
index 00000000..86cc8253
--- /dev/null
+++ b/wild_visual_navigation_sim/worlds/outdoor.world
@@ -0,0 +1,336 @@
+
+
+
+
+ 0.2 0.2 0.2 1
+ 1
+ 0
+
+
+ 4
+
+
+ 0.7 0.7 0.7 1
+
+
+
+
+ quick
+ 10
+ 1.3
+
+
+ 0.0
+ 0.2
+ 10
+ 0.001
+
+
+ 0.001
+
+ 0 0 -9.81
+
+ 1
+ 0 0 100 0 -0 0
+ 0.8 0.8 0.8 1
+ 0.9 0.9 0.9 1
+
+ 1000
+ 0.1
+ 0.01
+ 0.001
+
+ 0.2 0.2 -0.9
+
+
+ 1
+
+
+
+
+
+ file://heightmap.png
+ 30 30 12
+ 0 0 -1
+
+ 10
+ __default__
+ __default__
+
+
+ 0
+ 0
+
+
+
+ 10
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ file://media/materials/textures/dirt_diffusespecular.png
+ file://media/materials/textures/flat_normal.png
+ 7
+
+
+ file://media/materials/textures/grass_diffusespecular.png
+ file://media/materials/textures/flat_normal.png
+ 3
+
+
+ file://media/materials/textures/fungus_diffusespecular.png
+ file://media/materials/textures/flat_normal.png
+ 4
+
+
+ 0
+ 0.05
+
+
+ -1
+ 7
+
+
+ file://heightmap.png
+ 30 30 12
+ 0 0 -1
+
+
+
+ 0
+ 0
+ 0
+
+
+
+
+
+ true
+
+ 3 3 0.6 0 0 0
+
+
+
+ file://OliveTree1.dae
+ 1 1 1
+
+
+
+
+
+
+ file://OliveTree1.dae
+ 1 1 1
+
+
+ false
+
+
+
+
+
+ true
+
+ 5 6 0.7 0 0 0.3
+
+
+
+ file://OliveTree1.dae
+ 1 1 1
+
+
+
+
+
+
+ file://OliveTree1.dae
+ 1 1 1
+
+
+ false
+
+
+
+
+
+ true
+
+ 1 8 0.9 0 0 0
+
+
+
+ file://OliveTree2.dae
+ 1 1 1
+
+
+
+
+
+
+ file://OliveTree2.dae
+ 1 1 1
+
+
+ false
+
+
+
+
+
+ true
+
+ -5 4 0.8 0 0 0.1
+
+
+
+ file://OliveTree1.dae
+ 1 1 1
+
+
+
+
+
+
+ file://OliveTree1.dae
+ 1 1 1
+
+
+ false
+
+
+
+
+
+ true
+
+ -10 -3 1.1 0 0 0.3
+
+
+
+ file://OliveTree1.dae
+ 1 1 1
+
+
+
+
+
+
+ file://OliveTree1.dae
+ 1 1 1
+
+
+ false
+
+
+
+
+
+ true
+
+ -6 -1 1.02 0 0 0.5
+
+
+
+ file://OliveTree1.dae
+ 1 1 1
+
+
+
+
+
+
+ file://OliveTree1.dae
+ 1 1 1
+
+
+ false
+
+
+
+
+
+ true
+
+ -1 1 0.8 0 0 0.2
+
+
+
+ file://OliveTree2.dae
+ 1 1 1
+
+
+
+
+
+
+ file://OliveTree2.dae
+ 1 1 1
+
+
+ false
+
+
+
+
+
+ true
+
+ 9 -4 0.5 0 0 0.5
+
+
+
+ file://OliveTree1.dae
+ 1 1 1
+
+
+
+
+
+
+ file://OliveTree1.dae
+ 1 1 1
+
+
+ false
+
+
+
+
+
+ true
+
+ 6 -0.5 0.8 0 0 0.5
+
+
+
+ file://OliveTree1.dae
+ 1 1 1
+
+
+
+
+
+
+ file://OliveTree1.dae
+ 1 1 1
+
+
+ false
+
+
+
+
+
\ No newline at end of file
diff --git a/wild_visual_navigation_sim/worlds/scenario.world b/wild_visual_navigation_sim/worlds/scenario.world
index a8465b3e..46cfec7b 100644
--- a/wild_visual_navigation_sim/worlds/scenario.world
+++ b/wild_visual_navigation_sim/worlds/scenario.world
@@ -2,7 +2,7 @@
Outdoor scenario from HRATC repository:
https://github.com/ras-sight/hratc2014_framework
-->
-
+
@@ -279,4 +279,4 @@
-
+
\ No newline at end of file