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`gz_ros2_control`	the git version of that package, as the one in the repos was too outdated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