fix: gemini complete

myrobot_pkg/launch/xacro.launch

@@ -1,5 +1,6 @@
 <launch>
-    <arg name="model" default="burger"/> <arg name="gui" default="true"/>
+    <arg name="model" default="burger"/>
+    <arg name="gui" default="true"/>
     <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
     <arg name="x_pos" default="2.0"/>
     <arg name="y_pos" default="0.5"/>
@@ -19,14 +20,8 @@
         <arg name="debug" value="false"/>
     </include>
 
-    <node name="spawn_urdf" 
-        pkg="gazebo_ros" 
-        type="spawn_model" 
-        args="-urdf -model myrobot 
-        -x $(arg x_pos) 
-        -y $(arg y_pos) 
-        -z $(arg z_pos) 
-        -param robot_description"/>
+    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" 
+        args="-urdf -model myrobot -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description"/>
 
     <include file="$(find turtlebot3_slam)/launch/turtlebot3_gmapping.launch">
         <arg name="model" value="$(arg model)"/>
@@ -38,8 +33,16 @@
         <arg name="move_forward_only" value="false"/>
     </include>
 
-    <node pkg="myrobot_pkg" type="controller.py" name="nav_controller" output="screen" />
-
     <node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot3_navigation)/rviz/turtlebot3_navigation.rviz"/>
 
+    <node pkg="myrobot_pkg" type="controller.py" name="nav_controller" output="screen">
+        <rosparam param="waypoints">
+            [
+                [3.0, 1.5], 
+                [1.0, -2.5], 
+                [2.0, 0.0]
+            ]
+        </rosparam>
+    </node>
+
 </launch>