completed rev1

Author: SteveMacenski

nav2_minimal_tb3_sim/package.xml

@@ -11,6 +11,10 @@
 
   <depend>ros_gz_bridge</depend>
   <depend>ros_gz_interfaces</depend>
+  <depend>ros_gz_image</depend>
+  <depend>ros_gz_sim</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>xacro</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

nav2_minimal_tb4_sim/package.xml

@@ -11,7 +11,11 @@
 
   <depend>nav2_minimal_tb4_description</depend>
   <depend>ros_gz_bridge</depend>
+  <depend>ros_gz_image</depend>
   <depend>ros_gz_interfaces</depend>
+  <depend>ros_gz_sim</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>xacro</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

nav2_minimal_tb4_sim/worlds/depot.sdf

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<sdf version="1.6" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<sdf version="1.6" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:experimental="http://sdformat.org/schemas/experimental">
   <xacro:arg name="headless" default="true"/>
   <world name="depot">
     <scene>
@@ -39,6 +39,15 @@
       <uri>
         https://fuel.gazebosim.org/1.0/OpenRobotics/models/Depot
       </uri>
+
+      <!-- Remove annoying things that get in the way of visualizing the robot -->
+      <experimental:params>
+        <visual element_id="Fan1::visual" action="remove"/>
+        <visual element_id="Fan2::visual" action="remove"/>
+        <visual element_id="main::ROOF_visual" action="remove"/>
+        <visual element_id="main::FANS_visual" action="remove"/>
+      </experimental:params>
+
     </include>
 
   </world>