# Usage
`ros2 launch ign_world gazebo_controller_launch.py scene:=` and one of the following scene types: `Coex`, `Coop` and `Colab` appended to the beforementioned command.

Depending on your terminal configuration, adding the environment variable `DISPLAY=:0` may be required as a prefix to the command, as not all terminals load the predefined environment.

# Build
Building a package is handled by using the `build.sh` executable.
Many IDE's require a `compile_commands.json` file to offer syntax highlighting, which will be output when using the script. This also includes a symlink, in case your IDE does not search for it in the build directory.
Another addition of the script is the usage of `console_cohesion+` as event handler, which will format output by package, easing debugging in the noisy build output.

# Packages
package name|description
-|-
`btree` | the executable for the behavior trees and the used xml files
`controller_test` | a debugging tool for sending direct commands to the ros_control controller of the `iisy`
`gz_ros2_control` | the git version of that package, as the one in the repos was too outdated
`ign_actor_plugin` | the Gazebo Ignition plugin for controllable Actors
`ign_world` | the world for the simulation
`ros_actor_action_server` | second component of actor plugin, has to be started to enable control functionality
`ros_actor_action_server_msgs` | ros_action messages used by the actor plugin server
`ros_actor_message_queue_msgs` | internal messages of the actor plugin