RobotnikAutomation · albertmg2023 · May 21, 2025
diff --git a/robotnik_CopeliaSim/auxiliar_scripts/Velodyne_script.txt b/robotnik_CopeliaSim/auxiliar_scripts/Velodyne_script.txt
diff --git a/robotnik_CopeliaSim/auxiliar_scripts/base_script_rb_robout.txt b/robotnik_CopeliaSim/auxiliar_scripts/base_script_rb_robout.txt
diff --git a/robotnik_CopeliaSim/auxiliar_scripts/base_script_rb_watcher.txt b/robotnik_CopeliaSim/auxiliar_scripts/base_script_rb_watcher.txt
diff --git a/robotnik_CopeliaSim/auxiliar_scripts/camerascript.txt b/robotnik_CopeliaSim/auxiliar_scripts/camerascript.txt
diff --git a/robotnik_CopeliaSim/auxiliar_scripts/gps_script.txt b/robotnik_CopeliaSim/auxiliar_scripts/gps_script.txt
diff --git a/robotnik_CopeliaSim/auxiliar_scripts/imu_script.txt b/robotnik_CopeliaSim/auxiliar_scripts/imu_script.txt
diff --git a/robotnik_CopeliaSim/auxiliar_scripts/interfaces.txt b/robotnik_CopeliaSim/auxiliar_scripts/interfaces.txt
diff --git a/robotnik_CopeliaSim/auxiliar_scripts/lidar2dscript.txt b/robotnik_CopeliaSim/auxiliar_scripts/lidar2dscript.txt
diff --git a/robotnik_CopeliaSim/launch_scripts/launch_scene.py b/robotnik_CopeliaSim/launch_scripts/launch_scene.py
@@ -0,0 +1,33 @@
+import subprocess
+import time
+import os
+import sys
+
+# Ruta al ejecutable de CoppeliaSim
+COPPELIA_SIM_PATH = "/home/albert/CoppeliaSim_Edu_V4_9_0_rev6_Ubuntu22_04/coppeliaSim.sh"
+
+# Carpeta donde están guardadas todas las escenas
+SCENE_DIR = "/home/albert/CoppeliaSim_Edu_V4_9_0_rev6_Ubuntu22_04/scenes"
+
+# Verificar que se ha pasado un argumento con el nombre de la escena
+if len(sys.argv) != 2:
+    print("Uso: python3 lanzar_escena.py <nombre_escena.ttt>")
+    sys.exit(1)
+
+scene_name = sys.argv[1]
+scene_path = os.path.join(SCENE_DIR, scene_name)
+
+# Verificar que la escena existe
+if not os.path.isfile(scene_path):
+    print(f"Error: escena no encontrada en {scene_path}")
+    sys.exit(1)
+
+# Lanzar CoppeliaSim con la escena especificada
+print(f"Lanzando CoppeliaSim con la escena: {scene_name}")
+subprocess.Popen([COPPELIA_SIM_PATH, scene_path])
+
+# Esperar unos segundos para asegurarse de que la escena cargue
+time.sleep(5)
+
+print("CoppeliaSim lanzado. Escena cargada.")
+
diff --git a/robotnik_CopeliaSim/launch_scripts/spawn_model.py b/robotnik_CopeliaSim/launch_scripts/spawn_model.py
diff --git a/robotnik_CopeliaSim/robots/rb_robout.ttm b/robotnik_CopeliaSim/robots/rb_robout.ttm
diff --git a/robotnik_CopeliaSim/robots/rb_watcher.ttm b/robotnik_CopeliaSim/robots/rb_watcher.ttm