From dd6aa2ea2e81070389439fa5f4ecf3947da5ded1 Mon Sep 17 00:00:00 2001
From: Matias Mattamala <matias@robots.ox.ac.uk>
Date: Tue, 9 Apr 2024 17:32:46 +0100
Subject: [PATCH 1/6] Ongoing fixes to visualize world in RViz

---
 wild_visual_navigation_jackal/CMakeLists.txt  |    9 +-
 .../Media/models/OliveTree1.dae               | 4065 ----------------
 .../Media/models/OliveTree2.dae               | 4263 -----------------
 .../Media/models/PineTree.dae                 | 1250 -----
 .../Media/models/outdoor.dae                  |  121 +
 .../Media/models/scenario.dae                 |  131 -
 .../Media/models/terrain_texture.jpg          |  Bin 0 -> 502854 bytes
 .../textures/Vegetation_Grass1 (copy).jpg     |  Bin 13259 -> 0 bytes
 .../models/textures/Vegetation_Grass1.jpg     |  Bin 26150 -> 0 bytes
 .../Media/models/textures/mtt.png             |  Bin 492293 -> 0 bytes
 .../Media/models/textures/texture0.jpg        |  Bin 800 -> 0 bytes
 .../Media/models/textures/texture0.png        |  Bin 13096 -> 0 bytes
 .../config/rviz/open_source.rviz              |   29 +-
 .../launch/sim.launch                         |    3 +
 .../scripts/gazebo_world_publisher.py         |   46 +
 .../worlds/outdoor.world                      |  315 +-
 .../worlds/scenario.world                     |  282 --
 17 files changed, 214 insertions(+), 10300 deletions(-)
 delete mode 100644 wild_visual_navigation_jackal/Media/models/OliveTree1.dae
 delete mode 100644 wild_visual_navigation_jackal/Media/models/OliveTree2.dae
 delete mode 100644 wild_visual_navigation_jackal/Media/models/PineTree.dae
 create mode 100644 wild_visual_navigation_jackal/Media/models/outdoor.dae
 delete mode 100644 wild_visual_navigation_jackal/Media/models/scenario.dae
 create mode 100644 wild_visual_navigation_jackal/Media/models/terrain_texture.jpg
 delete mode 100644 wild_visual_navigation_jackal/Media/models/textures/Vegetation_Grass1 (copy).jpg
 delete mode 100644 wild_visual_navigation_jackal/Media/models/textures/Vegetation_Grass1.jpg
 delete mode 100644 wild_visual_navigation_jackal/Media/models/textures/mtt.png
 delete mode 100644 wild_visual_navigation_jackal/Media/models/textures/texture0.jpg
 delete mode 100644 wild_visual_navigation_jackal/Media/models/textures/texture0.png
 create mode 100644 wild_visual_navigation_jackal/scripts/gazebo_world_publisher.py
 delete mode 100644 wild_visual_navigation_jackal/worlds/scenario.world

diff --git a/wild_visual_navigation_jackal/CMakeLists.txt b/wild_visual_navigation_jackal/CMakeLists.txt
index b3d3d189..b303635d 100644
--- a/wild_visual_navigation_jackal/CMakeLists.txt
+++ b/wild_visual_navigation_jackal/CMakeLists.txt
@@ -13,14 +13,6 @@ catkin_package(
   CATKIN_DEPENDS
 )
 
-# catkin_python_setup()
-# catkin_install_python(PROGRAMS  scripts/wvn_feature_extractor_node.py
-#                                 scripts/wvn_learning_node.py
-#                                 scripts/overlay_images.py
-#                                 scripts/smart_carrot.py
-#                                 scripts/rosbag_play.sh
-#                       DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-
 message(${CATKIN_PACKAGE_SHARE_DESTINATION})
 install(DIRECTORY launch Media worlds
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
@@ -30,4 +22,5 @@ install(DIRECTORY launch Media worlds
 ## Python ##
 ############
 catkin_install_python(PROGRAMS scripts/jackal_state_converter_node.py
+                               scripts/gazebo_world_publisher.py
                       DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
\ No newline at end of file
diff --git a/wild_visual_navigation_jackal/Media/models/OliveTree1.dae b/wild_visual_navigation_jackal/Media/models/OliveTree1.dae
deleted file mode 100644
index 6583bc3e..00000000
--- a/wild_visual_navigation_jackal/Media/models/OliveTree1.dae
+++ /dev/null
@@ -1,4065 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-   <asset>
-      <contributor>
-         <authoring_tool>Google SketchUp 7.0.8657</authoring_tool>
-      </contributor>
-      <created>2010-03-16T17:45:56Z</created>
-      <modified>2010-03-16T17:45:56Z</modified>
-      <unit name="inches" meter="0.0254"/>
-      <up_axis>Z_UP</up_axis>
-   </asset>
-   <library_images>
-      <image id="material_0_1_0-image" name="material_0_1_0-image">
-         <init_from>textures/texture0.jpg</init_from>
-      </image>
-      <image id="material_1_2_0-image" name="material_1_2_0-image">
-         <init_from>textures/texture0.png</init_from>
-      </image>
-   </library_images>
-   <library_materials>
-      <material id="material_0_1_0ID" name="material_0_1_0">
-         <instance_effect url="#material_0_1_0-effect"/>
-      </material>
-      <material id="material_1_2_0ID" name="material_1_2_0">
-         <instance_effect url="#material_1_2_0-effect"/>
-      </material>
-   </library_materials>
-   <library_effects>
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-         <profile_COMMON>
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-               </surface>
-            </newparam>
-            <newparam sid="material_0_1_0-image-sampler">
-               <sampler2D>
-                  <source>material_0_1_0-image-surface</source>
-               </sampler2D>
-            </newparam>
-            <technique sid="COMMON">
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-                  <emission>
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-                  </emission>
-                  <ambient>
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-                  </ambient>
-                  <diffuse>
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-                  </diffuse>
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-                  </transparency>
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-            <extra>
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-               </technique>
-            </extra>
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-      </effect>
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diff --git a/wild_visual_navigation_jackal/Media/models/OliveTree2.dae b/wild_visual_navigation_jackal/Media/models/OliveTree2.dae
deleted file mode 100644
index fd294c0d..00000000
--- a/wild_visual_navigation_jackal/Media/models/OliveTree2.dae
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diff --git a/wild_visual_navigation_jackal/Media/models/PineTree.dae b/wild_visual_navigation_jackal/Media/models/PineTree.dae
deleted file mode 100644
index 6d24465f..00000000
--- a/wild_visual_navigation_jackal/Media/models/PineTree.dae
+++ /dev/null
@@ -1,1250 +0,0 @@
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diff --git a/wild_visual_navigation_jackal/Media/models/outdoor.dae b/wild_visual_navigation_jackal/Media/models/outdoor.dae
new file mode 100644
index 00000000..f659b894
--- /dev/null
+++ b/wild_visual_navigation_jackal/Media/models/outdoor.dae
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+          <technique_common>
+            <accessor source="#Plane-mesh-map-0-array" count="1536" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Plane-mesh-vertices">
+          <input semantic="POSITION" source="#Plane-mesh-positions"/>
+        </vertices>
+        <triangles material="Terrain_001-material" count="512">
+          <input semantic="VERTEX" source="#Plane-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Plane-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Plane-mesh-map-0" offset="2" set="0"/>
+          <p>65 0 0 79 1 1 64 2 2 65 0 3 81 3 4 80 4 5 66 5 6 82 6 7 81 3 8 67 7 9 83 8 10 82 6 11 68 9 12 84 10 13 83 8 14 69 11 15 85 12 16 84 10 17 71 13 18 85 12 19 70 14 20 72 15 21 86 16 22 71 13 23 73 17 24 87 18 25 72 15 26 74 19 27 88 20 28 73 17 29 75 21 30 89 22 31 74 19 32 75 21 33 91 23 34 90 24 35 76 25 36 92 26 37 91 23 38 77 27 39 93 28 40 92 26 41 80 4 42 94 29 43 79 1 44 80 4 45 96 30 46 95 31 47 81 3 48 97 32 49 96 30 50 82 6 51 98 33 52 97 32 53 83 8 54 99 34 55 98 33 56 84 10 57 100 35 58 99 34 59 86 16 60 100 35 61 85 12 62 87 18 63 101 36 64 86 16 65 88 20 66 102 37 67 87 18 68 89 22 69 103 38 70 88 20 71 90 24 72 104 39 73 89 22 74 90 24 75 106 40 76 105 41 77 91 23 78 107 42 79 106 40 80 92 26 81 108 43 82 107 42 83 95 31 84 109 44 85 94 29 86 95 31 87 111 45 88 110 46 89 96 30 90 112 47 91 111 45 92 97 32 93 113 48 94 112 47 95 98 33 96 114 49 97 113 48 98 99 34 99 115 50 100 114 49 101 101 36 102 115 50 103 100 35 104 102 37 105 116 51 106 101 36 107 103 38 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233 1389 75 21 1390 74 19 1391 30 233 1392 31 234 1393 76 25 1394 31 234 1395 32 235 1396 77 27 1397 32 235 1398 33 238 1399 78 236 1400 1 237 1401 34 239 1402 78 236 1403 34 239 1404 35 285 1405 93 28 1406 93 28 1407 35 285 1408 36 240 1409 108 43 1410 36 240 1411 37 241 1412 123 58 1413 37 241 1414 38 242 1415 138 73 1416 38 242 1417 39 243 1418 153 88 1419 39 243 1420 40 244 1421 40 244 1422 41 245 1423 183 131 1424 41 245 1425 42 246 1426 198 146 1427 42 246 1428 43 247 1429 213 160 1430 43 247 1431 44 248 1432 228 173 1433 44 248 1434 45 249 1435 243 188 1436 45 249 1437 46 250 1438 258 203 1439 46 250 1440 47 251 1441 273 218 1442 47 251 1443 48 286 1444 288 252 1445 288 252 1446 48 286 1447 3 253 1448 288 252 1449 49 254 1450 50 255 1451 287 219 1452 50 255 1453 51 256 1454 286 217 1455 51 256 1456 52 257 1457 285 216 1458 52 257 1459 53 258 1460 284 215 1461 53 258 1462 54 259 1463 282 212 1464 283 214 1465 54 259 1466 281 213 1467 282 212 1468 55 260 1469 280 211 1470 281 213 1471 56 261 1472 280 211 1473 57 262 1474 58 263 1475 279 210 1476 58 263 1477 59 264 1478 277 208 1479 278 209 1480 59 264 1481 277 208 1482 60 265 1483 61 266 1484 275 205 1485 276 207 1486 61 266 1487 274 206 1488 275 205 1489 62 267 1490 4 269 1491 274 206 1492 63 268 1493 5 271 1494 259 191 1495 274 206 1496 6 272 1497 244 176 1498 259 191 1499 7 273 1500 229 163 1501 244 176 1502 8 274 1503 214 149 1504 229 163 1505 9 275 1506 199 133 1507 214 149 1508 10 276 1509 184 118 1510 199 133 1511 169 104 1512 184 118 1513 10 276 1514 154 89 1515 169 104 1516 11 277 1517 139 74 1518 154 89 1519 12 278 1520 124 59 1521 139 74 1522 13 279 1523 109 44 1524 124 59 1525 14 280 1526 94 29 1527 109 44 1528 15 281 1529 79 1 1530 94 29 1531 16 282 1532 64 2 1533 79 1 1534 17 283 1535</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Plane" name="Plane" type="NODE">
+        <matrix sid="transform">15 0 0 0 0 15 0 0 0 0 1 7.5 0 0 0 1</matrix>
+        <instance_geometry url="#Plane-mesh" name="Plane">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Terrain_001-material" target="#Terrain_001-material">
+                <bind_vertex_input semantic="Plane-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/wild_visual_navigation_jackal/Media/models/scenario.dae b/wild_visual_navigation_jackal/Media/models/scenario.dae
deleted file mode 100644
index 274d0727..00000000
--- a/wild_visual_navigation_jackal/Media/models/scenario.dae
+++ /dev/null
@@ -1,131 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-    <asset>
-        <contributor>
-            <authoring_tool>SketchUp 13.0.4812</authoring_tool>
-        </contributor>
-        <created>2014-02-25T13:59:49Z</created>
-        <modified>2014-02-25T13:59:49Z</modified>
-        <unit meter="0.0254" name="inch" />
-        <up_axis>Z_UP</up_axis>
-    </asset>
-    <library_visual_scenes>
-        <visual_scene id="ID1">
-            <node name="SketchUp">
-                <node id="ID2" name="group_0">
-                    <matrix>1 0 0 0 0 1 0 0 0 0 1 -30.63593 0 0 0 1</matrix>
-                    <instance_geometry url="#ID3">
-                        <bind_material>
-                            <technique_common>
-                                <instance_material symbol="Material2" target="#ID5">
-                                    <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                                </instance_material>
-                                <instance_material symbol="Material3" target="#ID9">
-                                    <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                                </instance_material>
-                            </technique_common>
-                        </bind_material>
-                    </instance_geometry>
-                </node>
-            </node>
-        </visual_scene>
-    </library_visual_scenes>
-    <library_geometries>
-        <geometry id="ID3">
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870 990 77.68336 870 990 77.68336 900 960 76.22981 900 960 76.22981 930 930 71.28427 930 930 71.28427 960 900 63.9323 960 900 63.9323 990 870 54.87149 990 870 54.87149 1020 840 45.14836 1020 840 45.14836 1050 810 35.42167 1050 810 35.42167 1050 390 25.42533 1050 390 25.42533 240 780 69.56688 240 780 69.56688 270 750 78.46563 270 750 78.46563 300 720 86.04328 300 720 86.04328 330 690 91.71017 330 690 91.71017 360 660 95.02192 360 660 95.02192 390 630 95.70617 390 630 95.70617 420 600 93.77491 420 600 93.77491 450 570 89.88439 450 570 89.88439 480 540 84.43 480 540 84.43 510 510 77.82991 510 510 77.82991 540 480 70.59006 540 480 70.59006 570 450 63.15011 570 450 63.15011 600 420 57.69396 600 420 57.69396 630 390 55.11619 630 390 55.11619 1080 780 25.98549 1080 780 25.98549 1080 750 16.10557 1080 750 16.10557 1080 720 9.017711 1080 720 9.017711 1080 690 4.861352 1080 690 4.861352 1080 660 3.5771 1080 660 3.5771 1080 630 3.605434 1080 630 3.605434 1080 600 4.020609 1080 600 4.020609 1080 570 5.172964 1080 570 5.172964 1080 540 7.042416 1080 540 7.042416 1080 510 9.554898 1080 510 9.554898 1080 480 12.61118 1080 480 12.61118 1080 450 16.09067 1080 450 16.09067 1080 420 19.85604 1080 420 19.85604 1080 390 23.75852 1080 390 23.75852 210 810 60.03718 210 810 60.03718 210 840 54.20751 210 840 54.20751 210 870 48.38496 210 870 48.38496 210 900 42.80904 210 900 42.80904 210 930 37.71089 210 930 37.71089 210 960 33.30422 210 960 33.30422 210 990 29.7769 210 990 29.7769 210 1020 27.28358 210 1020 27.28358 210 1050 25.93903 210 1050 25.93903 210 1080 25.81303 210 1080 25.81303 210 1110 26.62899 210 1110 26.62899 210 1140 27.75058 210 1140 27.75058 210 1170 29.11586 210 1170 29.11586 210 1200 30.67173 210 1200 30.67173 660 360 53.59819 660 360 53.59819 690 360 59.53424 690 360 59.53424 720 360 66.35981 720 360 66.35981 750 360 72.81788 750 360 72.81788 780 360 77.58941 780 360 77.58941 810 360 79.05938 810 360 79.05938 840 360 76.80065 840 360 76.80065 870 360 71.13463 870 360 71.13463 900 360 62.8961 900 360 62.8961 930 360 53.31695 930 360 53.31695 960 360 43.90894 960 360 43.90894 990 360 36.11303 990 360 36.11303 1020 360 31.11776 1020 360 31.11776 1050 360 29.08639 1050 360 29.08639 690 1200 43.77228 690 1200 43.77228 720 1170 47.2872 720 1170 47.2872 750 1140 52.95104 750 1140 52.95104 780 1110 60.18205 780 1110 60.18205 810 1080 68.34431 810 1080 68.34431 840 1050 75.97388 840 1050 75.97388 870 1020 82.023 870 1020 82.023 900 990 84.98143 900 990 84.98143 930 960 83.51103 930 960 83.51103 960 930 78.19131 960 930 78.19131 990 900 70.01068 990 900 70.01068 1020 870 60.10287 1020 870 60.10287 1050 840 49.35154 1050 840 49.35154 1080 810 38.31818 1080 810 38.31818 1080 360 27.64367 1080 360 27.64367 210 780 65.63558 210 780 65.63558 240 750 74.86365 240 750 74.86365 270 720 83.09535 270 720 83.09535 300 690 89.6884 300 690 89.6884 330 660 94.12519 330 660 94.12519 360 630 96.05278 360 630 96.05278 390 600 95.28977 390 600 95.28977 420 570 92.29127 420 570 92.29127 450 540 87.5574 450 540 87.5574 480 510 81.45046 480 510 81.45046 510 480 74.43785 510 480 74.43785 540 450 66.96341 540 450 66.96341 570 420 59.39901 570 420 59.39901 600 390 53.41372 600 390 53.41372 630 360 49.76463 630 360 49.76463 1110 780 27.3351 1110 780 27.3351 1110 750 16.9518 1110 750 16.9518 1110 720 9.179739 1110 720 9.179739 1110 690 4.203458 1110 690 4.203458 1110 660 2.047406 1110 660 2.047406 1110 630 1.644623 1110 630 1.644623 1110 600 2.047406 1110 600 2.047406 1110 570 3.23933 1110 570 3.23933 1110 540 5.172964 1110 540 5.172964 1110 510 7.772603 1110 510 7.772603 1110 480 10.93704 1110 480 10.93704 1110 450 14.54326 1110 450 14.54326 1110 420 18.45111 1110 420 18.45111 1110 390 22.50866 1110 390 22.50866 1110 360 26.55803 1110 360 26.55803 180 810 56.12859 180 810 56.12859 180 840 50.61422 180 840 50.61422 180 870 45.14175 180 870 45.14175 180 900 39.94266 180 900 39.94266 180 930 35.23957 180 930 35.23957 180 960 31.23744 180 960 31.23744 180 990 28.11534 180 990 28.11534 180 1020 26.01983 180 1020 26.01983 180 1050 25.05854 180 1050 25.05854 180 1080 25.28049 180 1080 25.28049 180 1110 26.13181 180 1110 26.13181 180 1140 27.27642 180 1140 27.27642 180 1170 28.67018 180 1170 28.67018 180 1200 30.25942 180 1200 30.25942 660 330 47.10303 660 330 47.10303 690 330 51.70267 690 330 51.70267 720 330 57.39434 720 330 57.39434 750 330 62.98643 750 330 62.98643 780 330 67.01031 780 330 67.01031 810 330 68.62599 810 330 68.62599 840 330 67.21588 840 330 67.21588 870 330 62.99195 870 330 62.99195 900 330 56.68956 900 330 56.68956 930 330 49.38576 930 330 49.38576 960 330 42.33849 960 330 42.33849 990 330 36.87064 990 330 36.87064 1020 330 34.00767 1020 330 34.00767 1050 330 32.56846 1050 330 32.56846 1080 330 31.35733 1080 330 31.35733 720 1200 46.83077 720 1200 46.83077 750 1170 52.70285 750 1170 52.70285 780 1140 60.36053 780 1140 60.36053 810 1110 68.94959 810 1110 68.94959 840 1080 77.60854 840 1080 77.60854 870 1050 85.38519 870 1050 85.38519 900 1020 91.49625 900 1020 91.49625 930 990 93.83227 930 990 93.83227 960 960 91.35965 960 960 91.35965 990 930 84.9683 990 930 84.9683 1020 900 75.73964 1020 900 75.73964 1050 870 64.6794 1050 870 64.6794 1080 840 52.56901 1080 840 52.56901 1110 810 39.96919 1110 810 39.96919 1110 330 30.44153 1110 330 30.44153 180 780 61.45378 180 780 61.45378 210 750 70.77471 210 750 70.77471 240 720 79.44542 240 720 79.44542 270 690 86.7858 270 690 86.7858 300 660 92.21641 300 660 92.21641 330 630 95.30262 330 630 95.30262 360 600 95.78096 360 600 95.78096 390 570 93.77491 390 570 93.77491 420 540 89.88439 420 540 89.88439 450 510 84.44534 450 510 84.44534 480 480 77.85726 480 480 77.85726 510 450 70.54434 510 450 70.54434 540 420 62.84293 540 420 62.84293 570 390 55.36224 570 390 55.36224 600 360 48.99586 600 360 48.99586 630 330 44.64707 630 330 44.64707 1140 780 27.35395 1140 780 27.35395 1140 750 16.714 1140 750 16.714 1140 720 8.555513 1140 720 8.555513 1140 690 3.192118 1140 690 3.192118 1140 660 0.8304025 1140 660 0.8304025 1140 630 0.418504 1140 630 0.418504 1140 600 0.8304025 1140 600 0.8304025 1140 570 2.047406 1140 570 2.047406 1140 540 4.020609 1140 540 4.020609 1140 510 6.673576 1140 510 6.673576 1140 480 9.904043 1140 480 9.904043 1140 450 13.58759 1140 450 13.58759 1140 420 17.58236 1140 420 17.58236 1140 390 21.73452 1140 390 21.73452 1140 360 25.88412 1140 360 25.88412 1140 330 29.87131 1140 330 29.87131 150 810 52.21092 150 810 52.21092 150 840 47.08007 150 840 47.08007 150 870 42.02653 150 870 42.02653 150 900 37.27202 150 900 37.27202 150 930 33.02898 150 930 33.02898 150 960 29.49198 150 960 29.49198 150 990 26.82968 150 990 26.82968 150 1020 25.17794 150 1020 25.17794 150 1050 24.6398 150 1050 24.6398 150 1080 25.10671 150 1080 25.10671 150 1110 25.96384 150 1110 25.96384 150 1140 27.1162 150 1140 27.1162 150 1170 28.51954 150 1170 28.51954 150 1200 30.11999 150 1200 30.11999 660 300 41.59899 660 300 41.59899 690 300 44.65469 690 300 44.65469 720 300 48.96977 720 300 48.96977 750 300 53.18696 750 300 53.18696 780 300 56.32395 780 300 56.32395 810 300 61.76778 810 300 61.76778 840 300 67.34968 840 300 67.34968 870 300 58.53529 870 300 58.53529 900 300 50.339 900 300 50.339 930 300 45.52262 930 300 45.52262 960 300 41.13489 960 300 41.13489 990 300 38.19938 990 300 38.19938 1020 300 36.87767 1020 300 36.87767 1050 300 36.13717 1050 300 36.13717 1080 300 36.17876 1080 300 36.17876 1110 300 36.37339 1110 300 36.37339 750 1200 51.97951 750 1200 51.97951 780 1170 60.01786 780 1170 60.01786 810 1140 69.38953 810 1140 69.38953 840 1110 79.15337 840 1110 79.15337 870 1080 88.3626 870 1080 88.3626 900 1050 96.14384 900 1050 96.14384 930 1020 101.5463 930 1020 101.5463 960 990 102.5394 960 990 102.5394 990 960 98.75945 990 960 98.75945 1020 930 91.094 1020 930 91.094 1050 900 80.547 1050 900 80.547 1080 870 68.03724 1080 870 68.03724 1110 840 54.32405 1110 840 54.32405 1140 810 40.06649 1140 810 40.06649 1140 300 36.27911 1140 300 36.27911 150 780 57.19703 150 780 57.19703 180 750 66.36828 180 750 66.36828 210 720 75.24601 210 720 75.24601 240 690 83.12838 240 690 83.12838 270 660 89.38832 270 660 89.38832 300 630 93.52175 300 630 93.52175 330 600 95.18471 330 600 95.18471 360 570 94.32818 360 570 94.32818 390 540 91.54913 390 540 91.54913 420 510 87.07115 420 510 87.07115 450 480 81.16715 450 480 81.16715 480 450 74.22768 480 450 74.22768 510 420 66.52198 510 420 66.52198 540 390 58.63514 540 390 58.63514 570 360 51.27459 570 360 51.27459 600 330 45.13308 600 330 45.13308 630 300 40.7051 630 300 40.7051 1170 780 26.66214 1170 780 26.66214 1170 750 16.09446 1170 750 16.09446 1170 720 8.007869 1170 720 8.007869 1170 690 2.7146 1170 690 2.7146 1170 660 0.418504 1170 660 0.418504 1170 630 0 1170 630 0 1170 600 0.418504 1170 600 0.418504 1170 570 1.644623 1170 570 1.644623 1170 540 3.631286 1170 540 3.631286 1170 510 6.302224 1170 510 6.302224 1170 480 9.554898 1170 480 9.554898 1170 450 13.26443 1170 450 13.26443 1170 420 17.28842 1170 420 17.28842 1170 390 21.47238 1170 390 21.47238 1170 360 25.65568 1170 360 25.65568 1170 330 29.67773 1170 330 29.67773 1170 300 35.74983 1170 300 35.74983 120 810 48.45451 120 810 48.45451 120 840 43.7664 120 840 43.7664 120 870 39.19061 120 870 39.19061 120 900 34.93757 120 900 34.93757 120 930 31.20806 120 930 31.20806 120 960 28.18492 120 960 28.18492 120 990 26.02551 120 990 26.02551 120 1020 24.85556 120 1020 24.85556 120 1050 24.75542 120 1050 24.75542 120 1080 25.28049 120 1080 25.28049 120 1110 26.13181 120 1110 26.13181 120 1140 27.27642 120 1140 27.27642 120 1170 28.67018 120 1170 28.67018 120 1200 30.25942 120 1200 30.25942 660 270 38.16046 660 270 38.16046 690 270 39.6142 690 270 39.6142 720 270 42.14758 720 270 42.14758 750 270 44.88641 750 270 44.88641 780 270 47.11303 780 270 47.11303 810 270 58.46037 810 270 58.46037 840 270 68.60725 840 270 68.60725 870 270 57.30749 870 270 57.30749 900 270 45.091 900 270 45.091 930 270 42.7759 930 270 42.7759 960 270 41.0525 960 270 41.0525 990 270 40.3067 990 270 40.3067 1020 270 41.00982 1020 270 41.00982 1050 270 42.96388 1050 270 42.96388 1080 270 45.19611 1080 270 45.19611 1110 270 46.83496 1110 270 46.83496 1140 270 47.28645 1140 270 47.28645 780 1200 59.01376 780 1200 59.01376 810 1170 68.94959 810 1170 68.94959 840 1140 79.69141 840 1140 79.69141 870 1110 90.23573 870 1110 90.23573 900 1080 99.61783 900 1080 99.61783 930 1050 106.9908 930 1050 106.9908 960 1020 111.0674 960 1020 111.0674 990 990 110.5053 990 990 110.5053 1020 960 105.2182 1020 960 105.2182 1050 930 96.03559 1050 930 96.03559 1080 900 83.90737 1080 900 83.90737 1110 870 69.72792 1110 870 69.72792 1140 840 54.36315 1140 840 54.36315 1170 810 39.3034 1170 810 39.3034 1170 270 46.35043 1170 270 46.35043 120 780 53.04346 120 780 53.04346 150 750 61.82496 150 750 61.82496 180 720 70.66891 180 720 70.66891 210 690 78.86847 210 690 78.86847 240 660 85.76449 240 660 85.76449 270 630 90.79667 270 630 90.79667 300 600 93.6085 300 600 93.6085 330 570 94.17024 330 570 94.17024 360 540 92.6687 360 540 92.6687 390 510 89.3361 390 510 89.3361 420 480 84.35085 420 480 84.35085 450 450 78.04707 450 450 78.04707 480 420 70.65587 480 420 70.65587 510 390 62.64433 510 390 62.64433 540 360 54.70665 540 360 54.70665 570 330 47.56472 570 330 47.56472 600 300 41.91282 600 300 41.91282 630 270 38.32275 630 270 38.32275 1200 780 26.00718 1200 780 26.00718 1200 750 15.74247 1200 750 15.74247 1200 720 7.940756 1200 720 7.940756 1200 690 2.909063 1200 690 2.909063 1200 660 0.8304025 1200 660 0.8304025 1200 630 0.418504 1200 630 0.418504 1200 600 0.8304025 1200 600 0.8304025 1200 570 2.047406 1200 570 2.047406 1200 540 4.020609 1200 540 4.020609 1200 510 6.673576 1200 510 6.673576 1200 480 9.904043 1200 480 9.904043 1200 450 13.58759 1200 450 13.58759 1200 420 17.58236 1200 420 17.58236 1200 390 21.73452 1200 390 21.73452 1200 360 25.88412 1200 360 25.88412 1200 330 29.87131 1200 330 29.87131 1200 300 34.96949 1200 300 34.96949 1200 270 44.26106 1200 270 44.26106 90 810 45.02399 90 810 45.02399 90 840 40.82755 90 840 40.82755 90 870 36.77701 90 870 36.77701 90 900 33.07016 90 900 33.07016 90 930 29.89482 90 930 29.89482 90 960 27.42087 90 960 27.42087 90 990 25.79313 90 990 25.79313 90 1020 25.12501 90 1020 25.12501 90 1050 25.28049 90 1050 25.28049 90 1080 25.79474 90 1080 25.79474 90 1110 26.62899 90 1110 26.62899 90 1140 27.75058 90 1140 27.75058 90 1170 29.11586 90 1170 29.11586 90 1200 30.67173 90 1200 30.67173 660 240 36.79895 660 240 36.79895 690 240 37.17336 690 240 37.17336 720 240 37.97745 720 240 37.97745 750 240 39.33806 750 240 39.33806 780 240 40.71164 780 240 40.71164 810 240 45.69826 810 240 45.69826 840 240 52.28063 840 240 52.28063 870 240 46.128 870 240 46.128 900 240 41.97903 900 240 41.97903 930 240 41.98842 930 240 41.98842 960 240 42.07745 960 240 42.07745 990 240 44.05091 990 240 44.05091 1020 240 48.00231 1020 240 48.00231 1050 240 52.85049 1050 240 52.85049 1080 240 57.40407 1080 240 57.40407 1110 240 60.56305 1110 240 60.56305 1140 240 61.58398 1140 240 61.58398 1170 240 60.21352 1170 240 60.21352 810 1200 67.65635 810 1200 67.65635 840 1170 79.15337 840 1170 79.15337 870 1140 90.87068 870 1140 90.87068 900 1110 101.7696 900 1110 101.7696 930 1080 110.8958 930 1080 110.8958 960 1050 117.4067 960 1050 117.4067 990 1020 119.7263 990 1020 119.7263 1020 990 117.2726 1020 990 117.2726 1050 960 110.2488 1050 960 110.2488 1080 930 99.31663 1080 930 99.31663 1110 900 85.41697 1110 900 85.41697 1140 870 69.69458 1140 870 69.69458 1170 840 53.53117 1170 840 53.53117 1200 810 38.33332 1200 810 38.33332 1200 240 56.73516 1200 240 56.73516 90 780 49.16681 90 780 49.16681 120 750 57.3294 120 750 57.3294 150 720 65.89847 150 720 65.89847 180 690 74.1789 180 690 74.1789 210 660 81.49582 210 660 81.49582 240 630 87.25118 240 630 87.25118 270 600 91.27073 270 600 91.27073 300 570 93.27594 300 570 93.27594 330 540 93.13499 330 540 93.13499 360 510 91.09118 360 510 91.09118 390 480 87.22658 390 480 87.22658 420 450 81.78841 420 450 81.78841 450 420 75.01687 450 420 75.01687 480 390 67.20755 480 390 67.20755 510 360 59.01787 510 360 59.01787 540 330 51.1676 540 330 51.1676 570 300 44.38081 570 300 44.38081 600 270 39.33079 600 270 39.33079 630 240 36.58916 630 240 36.58916 60 810 42.07165 60 810 42.07165 60 840 38.40449 60 840 38.40449 60 870 34.9144 60 870 34.9144 60 900 31.78537 60 900 31.78537 60 930 29.19111 60 930 29.19111 60 960 27.28753 60 960 27.28753 60 990 26.20585 60 990 26.20585 60 1020 25.96384 60 1020 25.96384 60 1050 26.13181 60 1050 26.13181 60 1080 26.62899 60 1080 26.62899 60 1110 27.43555 60 1110 27.43555 60 1140 28.51954 60 1140 28.51954 60 1170 29.83815 60 1170 29.83815 60 1200 31.33935 60 1200 31.33935 660 210 35.58346 660 210 35.58346 690 210 36.00432 690 210 36.00432 720 210 36.56705 720 210 36.56705 750 210 37.24645 750 210 37.24645 780 210 38.01199 780 210 38.01199 810 210 38.82897 810 210 38.82897 840 210 39.66 840 210 39.66 870 210 40.4665 870 210 40.4665 900 210 41.21031 900 210 41.21031 930 210 41.85525 930 210 41.85525 960 210 44.03029 960 210 44.03029 990 210 49.31972 990 210 49.31972 1020 210 56.54349 1020 210 56.54349 1050 210 64.2562 1050 210 64.2562 1080 210 71.08126 1080 210 71.08126 1110 210 75.72177 1110 210 75.72177 1140 210 77.29577 1140 210 77.29577 1170 210 75.5006 1170 210 75.5006 1200 210 70.66523 1200 210 70.66523 840 1200 77.56844 840 1200 77.56844 870 1170 90.23573 870 1170 90.23573 900 1140 102.4982 900 1140 102.4982 930 1110 113.3105 930 1110 113.3105 960 1080 121.7576 960 1080 121.7576 990 1050 126.8843 990 1050 126.8843 1020 1020 127.2207 1020 1020 127.2207 1050 990 122.6534 1050 990 122.6534 1080 960 113.5987 1080 960 113.5987 1110 930 100.8414 1110 930 100.8414 1140 900 85.47166 1140 900 85.47166 1170 870 68.79749 1170 870 68.79749 1200 840 52.24018 1200 840 52.24018 60 780 45.72949 60 780 45.72949 90 750 53.06306 90 750 53.06306 120 720 61.12439 120 720 61.12439 150 690 69.24634 150 690 69.24634 180 660 76.75488 180 660 76.75488 210 630 83.10669 210 630 83.10669 240 600 88.22825 240 600 88.22825 270 570 91.6009 270 570 91.6009 300 540 92.87514 300 540 92.87514 330 510 92.21739 330 510 92.21739 360 480 89.63579 360 480 89.63579 390 450 85.27714 390 450 85.27714 420 420 79.38055 420 420 79.38055 450 390 72.09303 450 390 72.09303 480 360 63.98369 480 360 63.98369 510 330 55.74929 510 330 55.74929 540 300 48.12304 540 300 48.12304 570 270 41.81893 570 270 41.81893 600 240 37.47797 600 240 37.47797 630 210 35.40761 630 210 35.40761 30 810 39.73129 30 810 39.73129 30 840 36.61901 30 840 36.61901 30 870 33.71164 30 870 33.71164 30 900 31.17842 30 900 31.17842 30 930 29.17809 30 930 29.17809 30 960 27.85174 30 960 27.85174 30 990 27.27642 30 990 27.27642 30 1020 27.1162 30 1020 27.1162 30 1050 27.27642 30 1050 27.27642 30 1080 27.75058 30 1080 27.75058 30 1110 28.51954 30 1110 28.51954 30 1140 29.55228 30 1140 29.55228 30 1170 30.8072 30 1170 30.8072 30 1200 32.23374 30 1200 32.23374 660 180 34.41281 660 180 34.41281 690 180 34.87636 690 180 34.87636 720 180 35.49736 720 180 35.49736 750 180 36.24923 750 180 36.24923 780 180 37.09968 780 180 37.09968 810 180 38.01199 810 180 38.01199 840 180 38.94654 840 180 38.94654 870 180 39.86234 870 180 39.86234 900 180 40.71873 900 180 40.71873 930 180 41.88548 930 180 41.88548 960 180 46.6297 960 180 46.6297 990 180 54.83678 990 180 54.83678 1020 180 65.01935 1020 180 65.01935 1050 180 75.35479 1050 180 75.35479 1080 180 84.2164 1080 180 84.2164 1110 180 90.18302 1110 180 90.18302 1140 180 92.25313 1140 180 92.25313 1170 180 90.08118 1170 180 90.08118 1200 180 84.03528 1200 180 84.03528 870 1200 88.3626 870 1200 88.3626 900 1170 101.7696 900 1170 101.7696 930 1140 114.1275 930 1140 114.1275 960 1110 124.4139 960 1110 124.4139 990 1080 131.7811 990 1080 131.7811 1020 1050 135.0937 1020 1050 135.0937 1050 1020 133.2894 1050 1020 133.2894 1080 990 126.5614 1080 990 126.5614 1110 960 115.511 1110 960 115.511 1140 930 101.0881 1140 930 101.0881 1170 900 84.51462 1170 900 84.51462 1200 870 67.1865 1200 870 67.1865 30 780 42.8762 30 780 42.8762 60 750 49.19716 60 750 49.19716 90 720 56.53439 90 720 56.53439 120 690 64.26401 120 690 64.26401 150 660 71.72922 150 660 71.72922 180 630 78.52294 180 630 78.52294 210 600 84.55958 210 600 84.55958 240 570 89.17299 240 570 89.17299 270 540 91.85341 270 540 91.85341 300 510 92.6298 300 510 92.6298 330 480 91.44859 330 480 91.44859 360 450 88.34991 360 450 88.34991 390 420 83.53398 390 420 83.53398 420 390 77.06988 420 390 77.06988 450 360 69.36932 450 360 69.36932 480 330 61.08573 480 330 61.08573 510 300 52.94046 510 300 52.94046 540 270 45.66793 540 270 45.66793 570 240 39.96027 570 240 39.96027 600 210 36.40784 600 210 36.40784 630 180 34.35688 630 180 34.35688 0 810 38.11278 0 810 38.11278 0 840 35.56859 0 840 35.56859 0 870 33.25302 0 870 33.25302 0 900 31.31984 0 900 31.31984 0 930 29.91218 0 930 29.91218 0 960 29.11586 0 960 29.11586 0 990 28.67018 0 990 28.67018 0 1020 28.51954 0 1020 28.51954 0 1050 28.67018 0 1050 28.67018 0 1080 29.11586 0 1080 29.11586 0 1110 29.83815 0 1110 29.83815 0 1140 30.8072 0 1140 30.8072 0 1170 31.98293 0 1170 31.98293 0 1200 33.31662 0 1200 33.31662 660 150 33.33252 660 150 33.33252 690 150 33.83403 690 150 33.83403 720 150 34.50687 720 150 34.50687 750 150 35.32321 750 150 35.32321 780 150 36.24923 780 150 36.24923 810 150 37.24645 810 150 37.24645 840 150 38.27328 840 150 38.27328 870 150 39.28662 870 150 39.28662 900 150 40.24363 900 150 40.24363 930 150 42.53047 930 150 42.53047 960 150 49.33374 960 150 49.33374 990 150 59.7343 990 150 59.7343 1020 150 72.08134 1020 150 72.08134 1050 150 84.41583 1050 150 84.41583 1080 150 94.84523 1080 150 94.84523 1110 150 101.8499 1110 150 101.8499 1140 150 104.3162 1140 150 104.3162 1170 150 101.8499 1170 150 101.8499 1200 150 94.84523 1200 150 94.84523 900 1200 99.61783 900 1200 99.61783 930 1170 113.3105 930 1170 113.3105 960 1140 125.3121 960 1140 125.3121 990 1110 134.6523 990 1110 134.6523 1020 1080 140.562 1020 1080 140.562 1050 1050 141.7554 1050 1050 141.7554 1080 1020 137.7226 1080 1020 137.7226 1110 990 128.8588 1110 990 128.8588 1140 960 115.9439 1140 960 115.9439 1170 930 100.0776 1170 930 100.0776 1200 900 82.59134 1200 900 82.59134 0 780 40.72814 0 780 40.72814 30 750 45.88593 30 750 45.88593 60 720 52.30694 60 720 52.30694 90 690 59.42431 90 690 59.42431 120 660 66.61403 120 660 66.61403 150 630 73.64055 150 630 73.64055 180 600 80.37224 180 600 80.37224 210 570 86.05766 210 570 86.05766 240 540 90.07156 240 540 90.07156 270 510 92.27995 270 510 92.27995 300 480 92.56803 300 480 92.56803 330 450 90.86622 330 450 90.86622 360 420 87.28525 360 420 87.28525 390 390 81.91637 390 390 81.91637 420 360 74.93835 420 360 74.93835 450 330 66.94016 450 330 66.94016 480 300 58.61061 480 300 58.61061 510 270 50.68357 510 270 50.68357 540 240 43.88263 540 240 43.88263 570 210 38.86713 570 210 38.86713 600 180 35.67099 600 180 35.67099 630 150 33.41841 630 150 33.41841 660 120 32.38458 660 120 32.38458 690 120 32.91849 690 120 32.91849 720 120 33.63555 720 120 33.63555 750 120 34.50687 750 120 34.50687 780 120 35.49736 780 120 35.49736 810 120 36.56705 810 120 36.56705 840 120 37.67268 840 120 37.67268 870 120 38.76939 870 120 38.76939 900 120 39.81249 900 120 39.81249 930 120 43.1249 930 120 43.1249 960 120 51.28813 960 120 51.28813 990 120 63.12685 990 120 63.12685 1020 120 76.87728 1020 120 76.87728 1050 120 90.46502 1050 120 90.46502 1080 120 101.8499 1080 120 101.8499 1110 120 109.4538 1110 120 109.4538 1140 120 112.1287 1140 120 112.1287 1170 120 109.4538 1170 120 109.4538 1200 120 101.8499 1200 120 101.8499 930 1200 110.8958 930 1200 110.8958 960 1170 124.4139 960 1170 124.4139 990 1140 135.6228 990 1140 135.6228 1020 1110 143.6314 1020 1110 143.6314 1050 1080 147.7089 1050 1080 147.7089 1080 1050 146.6438 1080 1050 146.6438 1110 1020 140.3686 1110 1020 140.3686 1140 990 129.468 1140 990 129.468 1170 960 114.8874 1170 960 114.8874 1200 930 97.85646 1200 930 97.85646 0 750 43.2607 0 750 43.2607 30 720 48.60439 30 720 48.60439 60 690 54.91134 60 690 54.91134 90 660 61.60469 90 660 61.60469 120 630 68.61723 120 630 68.61723 150 600 75.79828 150 600 75.79828 180 570 82.35069 180 570 82.35069 210 540 87.56795 210 540 87.56795 240 510 91.15672 240 510 91.15672 270 480 92.93274 270 480 92.93274 300 450 92.71711 300 450 92.71711 330 420 90.51166 330 420 90.51166 360 390 86.42767 360 390 86.42767 390 360 80.46108 390 360 80.46108 420 330 73.07167 420 330 73.07167 450 300 64.8958 450 300 64.8958 480 270 56.64594 480 270 56.64594 510 240 49.05649 510 240 49.05649 540 210 42.82883 540 210 42.82883 570 180 38.42255 570 180 38.42255 600 150 34.98283 600 150 34.98283 630 120 32.59679 630 120 32.59679 660 90 31.60582 660 90 31.60582 690 90 32.16584 690 90 32.16584 720 90 32.91849 720 90 32.91849 750 90 33.83403 750 90 33.83403 780 90 34.87636 780 90 34.87636 810 90 36.00432 810 90 36.00432 840 90 37.17336 840 90 37.17336 870 90 38.33721 870 90 38.33721 900 90 39.44968 900 90 39.44968 930 90 43.20321 930 90 43.20321 960 90 51.87761 960 90 51.87761 990 90 64.25201 990 90 64.25201 1020 90 78.5233 1020 90 78.5233 1050 90 92.57702 1050 90 92.57702 1080 90 104.3162 1080 90 104.3162 1110 90 112.1287 1110 90 112.1287 1140 90 114.8874 1140 90 114.8874 1170 90 112.1287 1170 90 112.1287 1200 90 104.3162 1200 90 104.3162 960 1200 121.7576 960 1200 121.7576 990 1170 134.6523 990 1170 134.6523 1020 1140 144.6636 1020 1140 144.6636 1050 1110 151.0053 1050 1110 151.0053 1080 1080 152.9731 1080 1080 152.9731 1110 1050 149.5949 1110 1050 149.5949 1140 1020 141.1406 1140 1020 141.1406 1170 990 128.3743 1170 990 128.3743 1200 960 112.3894 1200 960 112.3894 0 720 45.56675 0 720 45.56675 30 690 50.89394 30 690 50.89394 60 660 56.88922 60 660 56.88922 90 630 63.62154 90 630 63.62154 120 600 70.98885 120 600 70.98885 150 570 78.174 150 570 78.174 180 540 84.4156 180 540 84.4156 210 510 89.2858 210 510 89.2858 240 480 92.51822 240 480 92.51822 270 450 93.82822 270 450 93.82822 300 420 93.10742 300 420 93.10742 330 390 90.42266 330 390 90.42266 360 360 85.72235 360 360 85.72235 390 330 79.24346 390 330 79.24346 420 300 71.55158 420 300 71.55158 450 270 63.31746 450 270 63.31746 480 240 55.26542 480 240 55.26542 510 210 48.11876 510 210 48.11876 540 180 42.53378 540 180 42.53378 570 150 38.01829 570 150 38.01829 600 120 34.34283 600 120 34.34283 630 90 31.90124 630 90 31.90124 660 60 31.02658 660 60 31.02658 690 60 31.60582 690 60 31.60582 720 60 32.38458 720 60 32.38458 750 60 33.33252 750 60 33.33252 780 60 34.41281 780 60 34.41281 810 60 35.58346 810 60 35.58346 840 60 36.79895 840 60 36.79895 870 60 38.01199 870 60 38.01199 900 60 39.17534 900 60 39.17534 930 60 42.60935 930 60 42.60935 960 60 50.89297 960 60 50.89297 990 60 62.84843 990 60 62.84843 1020 60 76.70965 1020 60 76.70965 1050 60 90.40016 1050 60 90.40016 1080 60 101.8499 1080 60 101.8499 1110 60 109.4538 1110 60 109.4538 1140 60 112.1287 1140 60 112.1287 1170 60 109.4538 1170 60 109.4538 1200 60 101.8499 1200 60 101.8499 990 1200 131.7811 990 1200 131.7811 1020 1170 143.6314 1020 1170 143.6314 1050 1140 152.0874 1050 1140 152.0874 1080 1110 156.4898 1080 1110 156.4898 1110 1080 156.1798 1110 1080 156.1798 1140 1050 150.5129 1140 1050 150.5129 1170 1020 140.0191 1170 1020 140.0191 1200 990 125.6263 1200 990 125.6263 0 690 47.51923 0 690 47.51923 30 660 52.64122 30 660 52.64122 60 630 58.82643 60 630 58.82643 90 600 66.1082 90 600 66.1082 120 570 73.67056 120 570 73.67056 150 540 80.71878 150 540 80.71878 180 510 86.72784 180 510 86.72784 210 480 91.33663 210 480 91.33663 240 450 94.16126 240 450 94.16126 270 420 94.9851 270 420 94.9851 300 390 93.76959 300 390 93.76959 330 360 90.52855 330 360 90.52855 360 330 85.23086 360 330 85.23086 390 300 78.33509 390 300 78.33509 420 270 70.45122 420 270 70.45122 450 240 62.27295 450 240 62.27295 480 210 54.52485 480 210 54.52485 510 180 47.90826 510 180 47.90826 540 150 42.4436 540 150 42.4436 570 120 37.58613 570 120 37.58613 600 90 33.75642 600 90 33.75642 630 60 31.34514 630 60 31.34514 660 30 30.66952 660 30 30.66952 690 30 31.26062 690 30 31.26062 720 30 32.05535 720 30 32.05535 750 30 33.02308 750 30 33.02308 780 30 34.12653 780 30 34.12653 810 30 35.32321 810 30 35.32321 840 30 36.56705 840 30 36.56705 870 30 37.81011 870 30 37.81011 900 30 39.00453 900 30 39.00453 930 30 41.53134 930 30 41.53134 960 30 48.57211 960 30 48.57211 990 30 59.20282 990 30 59.20282 1020 30 71.76814 1020 30 71.76814 1050 30 84.30492 1050 30 84.30492 1080 30 94.84523 1080 30 94.84523 1110 30 101.8499 1110 30 101.8499 1140 30 104.3162 1140 30 104.3162 1170 30 101.8499 1170 30 101.8499 1200 30 94.84523 1200 30 94.84523 1020 1200 140.5767 1020 1200 140.5767 1050 1170 151.0053 1050 1170 151.0053 1080 1140 157.6094 1080 1140 157.6094 1110 1110 159.8725 1110 1110 159.8725 1140 1080 157.2244 1140 1080 157.2244 1170 1050 149.3738 1170 1050 149.3738 1200 1020 137.0536 1200 1020 137.0536 0 660 49.01326 0 660 49.01326 30 630 54.40261 30 630 54.40261 60 600 61.32726 60 600 61.32726 90 570 68.99849 90 570 68.99849 120 540 76.60855 120 540 76.60855 150 510 83.57535 150 510 83.57535 180 480 89.43519 180 480 89.43519 210 450 93.71421 210 450 93.71421 240 420 96.0924 240 420 96.0924 270 390 96.42176 270 390 96.42176 300 360 94.7136 300 360 94.7136 330 330 90.82842 330 330 90.82842 360 300 85.01302 360 300 85.01302 390 270 77.79931 390 270 77.79931 420 240 69.8308 420 240 69.8308 450 210 61.81273 450 210 61.81273 480 180 54.45885 480 180 54.45885 510 150 48.13991 510 150 48.13991 540 120 42.24302 540 120 42.24302 570 90 37.12743 570 90 37.12743 600 60 33.23473 600 60 33.23473 630 30 30.94557 630 30 30.94557 660 0 30.54886 660 0 30.54886 690 0 31.14399 690 0 31.14399 720 0 31.94411 720 0 31.94411 750 0 32.91849 750 0 32.91849 780 0 34.02972 780 0 34.02972 810 0 35.23516 810 0 35.23516 840 0 36.48852 840 0 36.48852 870 0 37.74168 870 0 37.74168 900 0 38.94654 900 0 38.94654 930 0 40.46531 930 0 40.46531 960 0 45.55762 960 0 45.55762 990 0 54.10173 990 0 54.10173 1020 0 64.61825 1020 0 64.61825 1050 0 75.32489 1050 0 75.32489 1080 0 84.42024 1080 0 84.42024 1110 0 90.49303 1110 0 90.49303 1140 0 92.63808 1140 0 92.63808 1170 0 90.49303 1170 0 90.49303 1200 0 84.42024 1200 0 84.42024 1050 1200 147.8024 1050 1200 147.8024 1080 1170 156.4898 1080 1170 156.4898 1110 1140 161.0174 1110 1140 161.0174 1140 1110 161.0174 1140 1110 161.0174 1170 1080 156.078 1170 1080 156.078 1200 1050 146.2278 1200 1050 146.2278 0 630 50.51215 0 630 50.51215 30 600 56.81704 30 600 56.81704 60 570 64.32482 60 570 64.32482 90 540 72.23727 90 540 72.23727 120 510 79.94845 120 510 79.94845 150 480 86.89342 150 480 86.89342 180 450 92.52001 180 450 92.52001 210 420 96.41263 210 420 96.41263 240 390 98.31716 240 390 98.31716 270 360 98.15341 270 360 98.15341 300 330 95.85619 300 330 95.85619 330 300 91.36893 330 300 91.36893 360 270 85.1208 360 270 85.1208 390 240 77.68707 390 240 77.68707 420 210 69.73379 420 210 69.73379 450 180 61.96668 450 180 61.96668 480 150 54.9539 480 150 54.9539 510 120 48.19159 510 120 48.19159 540 90 41.929 540 90 41.929 570 60 36.65082 570 60 36.65082 600 30 32.79399 600 30 32.79399 630 0 30.72301 630 0 30.72301 1080 1200 153.1769 1080 1200 153.1769 1110 1170 159.8725 1110 1170 159.8725 1140 1140 162.1806 1140 1140 162.1806 1170 1110 159.8725 1170 1110 159.8725 1200 1080 152.7919 1200 1080 152.7919 0 600 52.74223 0 600 52.74223 30 570 59.81901 30 570 59.81901 60 540 67.77236 60 540 67.77236 90 510 75.98964 90 510 75.98964 120 480 83.81912 120 480 83.81912 150 450 90.6441 150 450 90.6441 180 420 95.96376 180 420 95.96376 210 390 99.42412 210 390 99.42412 240 360 100.8374 240 360 100.8374 270 330 100.1648 270 330 100.1648 300 300 97.2097 300 300 97.2097 330 270 92.1892 330 270 92.1892 360 240 85.59434 360 240 85.59434 390 210 78.03334 390 210 78.03334 420 180 70.18389 420 180 70.18389 450 150 62.70189 450 150 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1200 157.6094 1170 1170 159.8725 1170 1170 159.8725 1200 1140 157.6094 1200 1140 157.6094 0 540 59.26631 0 540 59.26631 30 510 67.72166 30 510 67.72166 60 480 76.61517 60 480 76.61517 90 450 85.24852 90 450 85.24852 120 420 92.99006 120 420 92.99006 150 390 99.31526 150 390 99.31526 180 360 103.8382 180 360 103.8382 210 330 106.3323 210 330 106.3323 240 300 106.7209 240 300 106.7209 270 270 104.7718 270 270 104.7718 300 240 100.6388 300 240 100.6388 330 210 94.76629 330 210 94.76629 360 180 87.72056 360 180 87.72056 390 150 80.14411 390 150 80.14411 420 120 72.06981 420 120 72.06981 450 90 63.50569 450 90 63.50569 480 60 55.00722 480 60 55.00722 510 30 47.13199 510 30 47.13199 540 0 40.40731 540 0 40.40731 1170 1200 156.4898 1170 1200 156.4898 1200 1170 156.4898 1200 1170 156.4898 0 510 63.75323 0 510 63.75323 30 480 72.79447 30 480 72.79447 60 450 81.98461 60 450 81.98461 90 420 90.64965 90 420 90.64965 120 390 98.19877 120 390 98.19877 150 360 104.1607 150 360 104.1607 180 330 108.2102 180 330 108.2102 210 300 110.1839 210 300 110.1839 240 270 109.9597 240 270 109.9597 270 240 107.3672 270 240 107.3672 300 210 102.7296 300 210 102.7296 330 180 96.53338 330 180 96.53338 360 150 89.36752 360 150 89.36752 390 120 81.33476 390 120 81.33476 420 90 72.45958 420 90 72.45958 450 60 63.29876 450 60 63.29876 480 30 54.42971 480 30 54.42971 510 0 46.41709 510 0 46.41709 1200 1200 153.1769 1200 1200 153.1769 0 480 69.04643 0 480 69.04643 30 450 78.53922 30 450 78.53922 60 420 87.89971 60 420 87.89971 90 390 96.48569 90 390 96.48569 120 360 103.7526 120 360 103.7526 150 330 109.2853 150 330 109.2853 180 300 112.82 180 300 112.82 210 270 114.2497 210 270 114.2497 240 240 113.3398 240 240 113.3398 270 210 110.1444 270 210 110.1444 300 180 105.057 300 180 105.057 330 150 98.59619 330 150 98.59619 360 120 90.85349 360 120 90.85349 390 90 81.91824 390 90 81.91824 420 60 72.33676 420 60 72.33676 450 30 62.69473 450 30 62.69473 480 0 53.5835 480 0 53.5835 0 450 75.06912 0 450 75.06912 30 420 84.8791 30 420 84.8791 60 390 94.28691 60 390 94.28691 90 360 102.6885 90 360 102.6885 120 330 109.5898 120 330 109.5898 150 300 114.6335 150 300 114.6335 180 270 117.6162 180 270 117.6162 210 240 118.427 210 240 118.427 240 210 116.8341 240 210 116.8341 270 180 113.0764 270 180 113.0764 300 150 107.5812 300 150 107.5812 330 120 100.3723 330 120 100.3723 360 90 91.6317 360 90 91.6317 390 60 81.8835 390 60 81.8835 420 30 71.70975 420 30 71.70975 450 0 61.71707 450 0 61.71707 0 420 81.73504 0 420 81.73504 30 390 91.72897 30 390 91.72897 60 360 101.0649 60 360 101.0649 90 330 109.1823 90 330 109.1823 120 300 115.6401 120 300 115.6401 150 270 120.1397 150 270 120.1397 180 240 122.5366 180 240 122.5366 210 210 122.6536 210 210 122.6536 240 180 120.4022 240 180 120.4022 270 150 116.0805 270 150 116.0805 300 120 109.6375 300 120 109.6375 330 90 101.343 330 90 101.343 360 60 91.68743 360 60 91.68743 390 30 81.23713 390 30 81.23713 420 0 70.60217 420 0 70.60217 0 390 88.94842 0 390 88.94842 30 360 98.99509 30 360 98.99509 60 330 108.1442 60 330 108.1442 90 300 115.8824 90 300 115.8824 120 270 121.824 120 270 121.824 150 240 125.7282 150 240 125.7282 180 210 127.4922 180 210 127.4922 210 180 126.8752 210 180 126.8752 240 150 123.8653 240 150 123.8653 270 120 118.4025 270 120 118.4025 300 90 110.7953 300 90 110.7953 330 60 101.49 330 60 101.49 360 30 91.02538 360 30 91.02538 390 0 80.00288 390 0 80.00288 0 360 96.60407 0 360 96.60407 30 330 106.575 30 330 106.575 60 300 115.4264 60 300 115.4264 90 270 122.6956 90 270 122.6956 120 240 128.0523 120 240 128.0523 150 210 131.3127 150 210 131.3127 180 180 132.3569 180 180 132.3569 210 150 130.7267 210 150 130.7267 240 120 126.4341 240 120 126.4341 270 90 119.7388 270 90 119.7388 300 60 111.0326 300 60 111.0326 330 30 100.8159 330 30 100.8159 360 0 89.66933 360 0 89.66933 0 330 104.5876 0 330 104.5876 30 300 114.3574 30 300 114.3574 60 270 122.8049 60 270 122.8049 90 240 129.5193 90 240 129.5193 120 210 134.2182 120 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diff --git a/wild_visual_navigation_jackal/config/rviz/open_source.rviz b/wild_visual_navigation_jackal/config/rviz/open_source.rviz
index e5a291f2..9a1976be 100644
--- a/wild_visual_navigation_jackal/config/rviz/open_source.rviz
+++ b/wild_visual_navigation_jackal/config/rviz/open_source.rviz
@@ -6,6 +6,7 @@ Panels:
       Expanded:
         - /Global Options1
         - /TF1/Tree1
+        - /World1/Status1
         - /Robot Info1
         - /Wild Visual Navigation1
         - /Wild Visual Navigation1/Self Supervision1
@@ -13,7 +14,7 @@ Panels:
         - /Wild Visual Navigation1/Prediction1
         - /Wild Visual Navigation1/Prediction1/R Traversability Overlay1
       Splitter Ratio: 0.6411483287811279
-    Tree Height: 536
+    Tree Height: 530
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -31,7 +32,7 @@ Panels:
   - Class: rviz/Time
     Name: Time
     SyncMode: 0
-    SyncSource: F Traversability Overlay
+    SyncSource: ""
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -131,6 +132,14 @@ Visualization Manager:
                 {}
       Update Interval: 0
       Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /wild_visual_navigation_jackal/simulation_world
+      Name: World
+      Namespaces:
+        world: true
+      Queue Size: 1
+      Value: true
     - Class: rviz/Group
       Displays:
         - Angle Tolerance: 0.10000000149011612
@@ -264,7 +273,7 @@ Visualization Manager:
               Marker Topic: /wild_visual_navigation_node/graph_footprints
               Name: Footprint
               Namespaces:
-                footprints: true
+                {}
               Queue Size: 100
               Value: true
             - Alpha: 1
@@ -814,7 +823,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/ThirdPersonFollower
-      Distance: 3.611910343170166
+      Distance: 19.5626220703125
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -822,17 +831,17 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: 2.143528938293457
-        Y: -0.917067289352417
-        Z: -2.384185791015625e-07
+        X: 6.84149169921875
+        Y: -0.8593425750732422
+        Z: 7.152557373046875e-07
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.7603982090950012
+      Pitch: 0.6603981852531433
       Target Frame: base
-      Yaw: 0.42539846897125244
+      Yaw: 5.903587341308594
     Saved: ~
 Window Geometry:
   AB Wide Angle Front:
@@ -854,7 +863,7 @@ Window Geometry:
     collapsed: false
   Learning Mask:
     collapsed: false
-  QMainWindow State: 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+  QMainWindow State: 000000ff00000000fd0000000400000000000001a00000024ffc0200000012fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000005fb000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000001a70000024f000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006100000002ea000000c80000000000000000fb00000036005300750070006500720076006900730069006f006e0020002d00200049006d0061006700650020004c006100620065006c006500640000000259000000520000000000000000fb00000024005300750070006500720076006900730069006f006e0020002d0020004d00610073006b000000027e000000b80000000000000000fb0000000a0049006d00610067006500000002eb000001280000000000000000fb000000140043006f006e0066006900640065006e0063006500000003b3000000c60000000000000000fb0000003e004600200054007200610076006500720073006100620069006c0069007400790020004f007600650072006c006100790020005200650070006c0061007900000004a40000009f0000000000000000fb00000028004600200054007200610076006500720073006100620069006c00690074007900200052006100770000000482000000c10000000000000000fb00000028004600200054007200610076006500720073006100620069006c00690074007900200052006100770000000482000000c10000000000000000fb0000000a0049006d0061006700650000000249000000210000000000000000fb0000000a0049006d0061006700650000000270000000200000000000000000000000010000010f0000024ffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000001a70000024f000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000078000000164fc0100000015fb0000001c0049006d00610067006500200046006500610074007500720065007300000000bf000003690000000000000000fb000000060048004400520000000000000000950000005400fffffffb00000024004100420020005700690064006500200052006500610072002000460072006f006e0074000000000000000117000000ba00fffffffc0000012a0000010c0000000000fffffffa000000000200000003fb0000000a0049006d0061006700650000000000ffffffff0000000000000000fb0000002400460072006f006e0074002000280063006f006d007000720065007300730065006400290000000000ffffffff0000000000000000fb0000001e00410053002000460072006f006e00740020002800630061006d00340029000000003d0000010c0000000000000000fc000002570000019b0000000000fffffffa000000000200000001fb0000000a0049006d0061006700650000000000ffffffff0000000000000000fc000000000000025a0000008600fffffffa000000000200000003fb000000160049006e00700075007400200049006d006100670065010000003d000001ac0000001600fffffffb0000001a005200200049006e00700075007400200049006d0061006700650000000000ffffffff0000000000000000fb0000001a004c00200049006e00700075007400200049006d0061006700650000000000ffffffff0000000000000000fb00000028005200200043006f006e0066006900640065006e006300650020004f007600650072006c0061007900000000000000013f000000c700fffffffb00000030005200200054007200610076006500720073006100620069006c0069007400790020004f007600650072006c00610079000000000000000162000000d500fffffffb00000026004100420020005700690064006500200041006e0067006c0065002000460072006f006e0074000000012500000282000000c200fffffffb00000028004600200043006f006e0066006900640065006e006300650020004f007600650072006c00610079010000026000000242000000c600fffffffb00000030004600200054007200610076006500720073006100620069006c0069007400790020004f007600650072006c0061007901000004a8000002d8000000d400fffffffb00000028004600200043006f006e0066006900640065006e006300650020004f007600650072006c00610079010000080e000001aa0000000000000000fb0000000a0049006d00610067006501000003240000018a0000000000000000fb0000002c0054007200610076006500720073006100620069006c0069007400790020004f007600650072006c0061007900000004ae0000010c0000000000000000fc00000846000000bd0000000000fffffffa000000000200000006fb000000160046002000540072006100760020004f0076006500720000000000ffffffff0000000000000000fb0000003e004600200054007200610076006500720073006100620069006c0069007400790020004f007600650072006c006100790020005200650070006c006100790100000000ffffffff0000000000000000fb000000240054007200610076006500720073006100620069006c0069007400790020005200610077000000003d0000012b0000001600fffffffb00000028005200200054007200610076006500720073006100620069006c00690074007900200052006100770000000000ffffffff0000000000000000fb00000028004c00200054007200610076006500720073006100620069006c00690074007900200052006100770000000000ffffffff0000000000000000fb00000030004600200054007200610076006500720073006100620069006c0069007400790020004f007600650072006c006100790000000000ffffffff0000000000000000fc00000909000000af0000000000fffffffa00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   R Confidence Overlay:
     collapsed: false
   R Traversability Overlay:
diff --git a/wild_visual_navigation_jackal/launch/sim.launch b/wild_visual_navigation_jackal/launch/sim.launch
index 717b71bf..8eeab1f5 100644
--- a/wild_visual_navigation_jackal/launch/sim.launch
+++ b/wild_visual_navigation_jackal/launch/sim.launch
@@ -29,4 +29,7 @@
 
   <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
 	      args="-urdf -model jackal -param robot_description -x $(arg x) -y $(arg y) -z $(arg z) -R 0 -P 0 -Y $(arg yaw)" />
+
+  <node name="gazebo_world_publisher" pkg="wild_visual_navigation_jackal" type="gazebo_world_publisher.py"/>
+  
 </launch>
diff --git a/wild_visual_navigation_jackal/scripts/gazebo_world_publisher.py b/wild_visual_navigation_jackal/scripts/gazebo_world_publisher.py
new file mode 100644
index 00000000..42b4086b
--- /dev/null
+++ b/wild_visual_navigation_jackal/scripts/gazebo_world_publisher.py
@@ -0,0 +1,46 @@
+#!/usr/bin/python3
+#
+# Copyright (c) 2022-2024, ETH Zurich, Matias Mattamala, Jonas Frey.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#
+
+from visualization_msgs.msg import Marker
+import rospkg
+import rospy
+
+
+def callback(event):
+    pub.publish(marker)
+
+
+if __name__ == "__main__":
+    rospy.init_node("gazebo_world_publisher")
+
+    # Default variables
+    rospack = rospkg.RosPack()
+    pkg_path = rospack.get_path("wild_visual_navigation_jackal")
+    default_model_file = f"{pkg_path}/Media/models/outdoor.dae"
+
+    marker = Marker()
+    marker.header.frame_id = "odom"
+    marker.header.stamp = rospy.Time.now()
+    marker.id = 0
+    marker.ns = "world"
+    marker.action = Marker.ADD
+    marker.scale.x = 1.0
+    marker.scale.y = 1.0
+    marker.scale.z = 1.0
+    marker.color.a = 1.0
+    marker.pose.orientation.w = 1.0
+    marker.mesh_use_embedded_materials = True
+    marker.type = Marker.MESH_RESOURCE
+    marker.mesh_resource = f"file://{default_model_file}"
+
+    # Set publisher
+    pub = rospy.Publisher("/wild_visual_navigation_jackal/simulation_world", Marker, queue_size=10)
+
+    # Set timer to publish
+    rospy.Timer(rospy.Duration(5), callback)
+    rospy.loginfo("[gazebo_world_publisher] Published world!")
+    rospy.spin()
diff --git a/wild_visual_navigation_jackal/worlds/outdoor.world b/wild_visual_navigation_jackal/worlds/outdoor.world
index 209372f8..baa0a315 100644
--- a/wild_visual_navigation_jackal/worlds/outdoor.world
+++ b/wild_visual_navigation_jackal/worlds/outdoor.world
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <sdf version='1.6'>
-  <world name='small_outdoor'>
+  <world name='outdoor'>
     <scene>
       <ambient>0.2 0.2 0.2 1</ambient>
       <shadows>1</shadows>
@@ -20,295 +20,28 @@
       </attenuation>
       <direction>0.2 0.2 -0.9</direction>
     </light>
-    <model name='heightmap_terrain'>
-      <static>1</static>
-      <link name='link'>
-        <collision name='collision'>
-          <geometry>
-            <heightmap>
-              <uri>
-                file://heightmap.png</uri>
-              <size>30 30 12</size>
-              <pos>0 0 -1</pos>
-              <texture>
-                <size>10</size>
-                <diffuse>__default__</diffuse>
-                <normal>__default__</normal>
-              </texture>
-              <blend>
-                <min_height>0</min_height>
-                <fade_dist>0</fade_dist>
-              </blend>
-            </heightmap>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode />
-            </contact>
-            <bounce />
-            <friction>
-              <torsional>
-                <ode />
-              </torsional>
-              <ode />
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <geometry>
-            <heightmap>
-              <texture>
-                <diffuse>file://media/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>file://media/materials/textures/flat_normal.png</normal>
-                <size>7</size>
-              </texture>
-              <texture>
-                <diffuse>file://media/materials/textures/grass_diffusespecular.png</diffuse>
-                <normal>file://media/materials/textures/flat_normal.png</normal>
-                <size>3</size>
-              </texture>
-              <texture>
-                <diffuse>file://media/materials/textures/fungus_diffusespecular.png</diffuse>
-                <normal>file://media/materials/textures/flat_normal.png</normal>
-                <size>4</size>
-              </texture>
-              <blend>
-                <min_height>0</min_height>
-                <fade_dist>0.05</fade_dist>
-              </blend>
-              <blend>
-                <min_height>-1</min_height>
-                <fade_dist>7</fade_dist>
-              </blend>
-              <uri>
-                file://heightmap.png</uri>
-              <size>30 30 12</size>
-              <pos>0 0 -1</pos>
-            </heightmap>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-
-    <!-- Trees!!! -->
-		<model name="tree1">
-			<static>true</static>
-			<link name="tree1_link">
-				<pose>3 3 -1 0 0 0</pose>
-				<collision name="tree1_collision">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-				</collision>
-				<visual name="tree1_visual">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-					<cast_shadows>false</cast_shadows>
-				</visual>
-			</link>
-		</model>
-
-		<model name="tree2">
-			<static>true</static>
-			<link name="tree2_link">
-				<pose>5 6 -1.0 0.0 0 0.3</pose>
-				<collision name="tree2_collision">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-				</collision>
-				<visual name="tree2_visual">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-					<cast_shadows>false</cast_shadows>
-				</visual>
-			</link>
-		</model>
-
-		<model name="tree3">
-			<static>true</static>
-			<link name="tree3_link">
-				<pose>1 8 -0.2 0.0 0 0</pose>
-				<collision name="tree3_collision">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree2.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-				</collision>
-				<visual name="tree3_visual">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree2.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-					<cast_shadows>false</cast_shadows>
-				</visual>
-			</link>
-		</model>
-
-		<model name="tree4">
-			<static>true</static>
-			<link name="tree4_link">
-				<pose>-5 4 -1.0 0 0.1</pose>
-				<collision name="tree4_collision">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-				</collision>
-				<visual name="tree4_visual">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-					<cast_shadows>false</cast_shadows>
-				</visual>
-			</link>
-		</model>
-
-		<model name="tree5">
-			<static>true</static>
-			<link name="tree5_link">
-				<pose>-10 -3 -1.0 0 0 0.3</pose>
-				<collision name="tree5_collision">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-				</collision>
-				<visual name="tree5_visual">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-					<cast_shadows>false</cast_shadows>
-				</visual>
-			</link>
-		</model>
-
-		<model name="tree6">
-			<static>true</static>
-			<link name="tree6_link">
-				<pose>-6 -1 -0.8 0 0 0.5</pose>
-				<collision name="tree6_collision">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-				</collision>
-				<visual name="tree6_visual">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-					<cast_shadows>false</cast_shadows>
-				</visual>
-			</link>
-		</model>
-
-		<model name="tree7">
-			<static>true</static>
-			<link name="tree7_link">
-				<pose>-1 1 -1.0 0.0 0 0.2</pose>
-				<collision name="tree7_collision">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree2.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-				</collision>
-				<visual name="tree7_visual">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree2.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-					<cast_shadows>false</cast_shadows>
-				</visual>
-			</link>
-		</model>
-
-		<model name="tree8">
-			<static>true</static>
-			<link name="tree8_link">
-				<pose>9 -4 -1.0 0 0 0.5</pose>
-				<collision name="tree8_collision">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-				</collision>
-				<visual name="tree8_visual">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-					<cast_shadows>false</cast_shadows>
-				</visual>
-			</link>
-		</model>
-
-		<model name="tree9">
-			<static>true</static>
-			<link name="tree9_link">
-				<pose>6 -0.5 -1.0 0 0 0.5</pose>
-				<collision name="tree9_collision">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-				</collision>
-				<visual name="tree9_visual">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-					<cast_shadows>false</cast_shadows>
-				</visual>
-			</link>
-		</model>
+    <model name="terrain">
+		<static>true</static>
+		<link name="terrain_link">
+			<pose>3 3 -1 0 0 0</pose>
+			<collision name="terrain_collision">
+				<geometry>
+					<mesh>
+						<uri>file://outdoor.dae</uri>
+						<scale>1 1 1</scale>
+					</mesh>
+				</geometry>
+			</collision>
+			<visual name="terrain_visual">
+				<geometry>
+					<mesh>
+						<uri>file://outdoor.dae</uri>
+						<scale>1 1 1</scale>
+					</mesh>
+				</geometry>
+				<cast_shadows>false</cast_shadows>
+			</visual>
+		</link>
+	</model>
   </world>
 </sdf>
\ No newline at end of file
diff --git a/wild_visual_navigation_jackal/worlds/scenario.world b/wild_visual_navigation_jackal/worlds/scenario.world
deleted file mode 100644
index 46cfec7b..00000000
--- a/wild_visual_navigation_jackal/worlds/scenario.world
+++ /dev/null
@@ -1,282 +0,0 @@
-<!--
-  Outdoor scenario from HRATC repository:
-  https://github.com/ras-sight/hratc2014_framework
--->
-<?xml version="1.0" encoding="UTF-8"?>
-<sdf version="1.4">
-	<world name="default">
-		<scene>
-			<ambient>0.5 0.5 0.5 1</ambient>
-			<background>0.5 0.5 0.5 1</background>
-			<shadows>false</shadows>
-		</scene>
-		<physics type="ode">
-			<gravity>0 0 -9.81</gravity>
-			<ode>
-				<solver>
-					<type>quick</type>
-					<iters>10</iters>
-					<sor>1.3</sor>
-				</solver>
-				<constraints>
-					<cfm>0.0</cfm>
-					<erp>0.2</erp>
-					<contact_max_correcting_vel>10</contact_max_correcting_vel>
-					<contact_surface_layer>0.001</contact_surface_layer>
-				</constraints>
-			</ode>
-			<max_step_size>0.001</max_step_size>
-		</physics>
-		<light type="directional" name="directional_light_1">
-			<pose>0 20 20 0.1 0.1 0</pose>
-			<diffuse>1 1 1 1</diffuse>
-			<specular>1 1 1 1</specular>
-			<attenuation>
-				<range>300</range>
-			</attenuation>
-			<direction>0.1 0.1 -1</direction>
-			<cast_shadows>false</cast_shadows>
-		</light>
-		<model name="terrain">
-			<link name="terrain_link">
-				<pose>-15.0 -15.0 0.5 0 0 0</pose>
-				<collision name="terrain_collision">
-					<geometry>
-						<mesh>
-							<uri>file://scenario.dae</uri>
-							<scale>1 1 0.4</scale>
-						</mesh>
-					</geometry>
-				</collision>
-				<visual name="terrain">
-					<geometry>
-						<mesh>
-							<uri>file://scenario.dae</uri>
-							<scale>1 1 0.4</scale>
-						</mesh>
-					</geometry>
-					<cast_shadows>false</cast_shadows>
-				</visual>
-			</link>
-			<static>true</static>
-		</model>
-
-		<!-- Trees!!! -->
-		<model name="tree1">
-			<static>true</static>
-			<link name="tree1_link">
-				<pose>3 3 0.6 0 0 0</pose>
-				<collision name="tree1_collision">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-				</collision>
-				<visual name="tree1_visual">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-					<cast_shadows>false</cast_shadows>
-				</visual>
-			</link>
-		</model>
-
-		<model name="tree2">
-			<static>true</static>
-			<link name="tree2_link">
-				<pose>5 6 0.7 0 0 0.3</pose>
-				<collision name="tree2_collision">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-				</collision>
-				<visual name="tree2_visual">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-					<cast_shadows>false</cast_shadows>
-				</visual>
-			</link>
-		</model>
-
-		<model name="tree3">
-			<static>true</static>
-			<link name="tree3_link">
-				<pose>1 8 0.9 0 0 0</pose>
-				<collision name="tree3_collision">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree2.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-				</collision>
-				<visual name="tree3_visual">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree2.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-					<cast_shadows>false</cast_shadows>
-				</visual>
-			</link>
-		</model>
-
-		<model name="tree4">
-			<static>true</static>
-			<link name="tree4_link">
-				<pose>-5 4 0.8 0 0 0.1</pose>
-				<collision name="tree4_collision">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-				</collision>
-				<visual name="tree4_visual">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-					<cast_shadows>false</cast_shadows>
-				</visual>
-			</link>
-		</model>
-
-		<model name="tree5">
-			<static>true</static>
-			<link name="tree5_link">
-				<pose>-10 -3 1.1 0 0 0.3</pose>
-				<collision name="tree5_collision">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-				</collision>
-				<visual name="tree5_visual">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-					<cast_shadows>false</cast_shadows>
-				</visual>
-			</link>
-		</model>
-
-		<model name="tree6">
-			<static>true</static>
-			<link name="tree6_link">
-				<pose>-6 -7 1.02 0 0 0.5</pose>
-				<collision name="tree6_collision">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-				</collision>
-				<visual name="tree6_visual">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-					<cast_shadows>false</cast_shadows>
-				</visual>
-			</link>
-		</model>
-
-		<model name="tree7">
-			<static>true</static>
-			<link name="tree7_link">
-				<pose>-1 -6 0.8 0 0 0.2</pose>
-				<collision name="tree7_collision">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree2.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-				</collision>
-				<visual name="tree7_visual">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree2.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-					<cast_shadows>false</cast_shadows>
-				</visual>
-			</link>
-		</model>
-
-		<model name="tree8">
-			<static>true</static>
-			<link name="tree8_link">
-				<pose>9 -4 0.5 0 0 0.5</pose>
-				<collision name="tree8_collision">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-				</collision>
-				<visual name="tree8_visual">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-					<cast_shadows>false</cast_shadows>
-				</visual>
-			</link>
-		</model>
-
-		<model name="tree9">
-			<static>true</static>
-			<link name="tree9_link">
-				<pose>6 -10 0.8 0 0 0.5</pose>
-				<collision name="tree9_collision">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-				</collision>
-				<visual name="tree9_visual">
-					<geometry>
-						<mesh>
-							<uri>file://OliveTree1.dae</uri>
-							<scale>1 1 1</scale>
-						</mesh>
-					</geometry>
-					<cast_shadows>false</cast_shadows>
-				</visual>
-			</link>
-		</model>
-
-	</world>
-</sdf>
\ No newline at end of file

From 88a3b1eb7d7d4b7eae6c4331a8e3119ce5ec747f Mon Sep 17 00:00:00 2001
From: Matias Mattamala <matias@robots.ox.ac.uk>
Date: Wed, 10 Apr 2024 17:27:23 +0100
Subject: [PATCH 2/6] Add carrot follower example

---
 wild_visual_navigation_jackal/CMakeLists.txt  |  3 +-
 .../config/rviz/open_source.rviz              | 41 +++++++--
 .../launch/sim.launch                         |  8 +-
 .../scripts/carrot_follower.py                | 89 +++++++++++++++++++
 .../scripts/gazebo_world_publisher.py         | 74 ++++++++++++++-
 .../worlds/outdoor.world                      |  2 +-
 6 files changed, 200 insertions(+), 17 deletions(-)
 create mode 100644 wild_visual_navigation_jackal/scripts/carrot_follower.py

diff --git a/wild_visual_navigation_jackal/CMakeLists.txt b/wild_visual_navigation_jackal/CMakeLists.txt
index b303635d..3b1676a2 100644
--- a/wild_visual_navigation_jackal/CMakeLists.txt
+++ b/wild_visual_navigation_jackal/CMakeLists.txt
@@ -21,6 +21,7 @@ install(DIRECTORY launch Media worlds
 ############
 ## Python ##
 ############
-catkin_install_python(PROGRAMS scripts/jackal_state_converter_node.py
+catkin_install_python(PROGRAMS scripts/carrot_follower.py
+                               scripts/jackal_state_converter_node.py
                                scripts/gazebo_world_publisher.py
                       DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
\ No newline at end of file
diff --git a/wild_visual_navigation_jackal/config/rviz/open_source.rviz b/wild_visual_navigation_jackal/config/rviz/open_source.rviz
index 9a1976be..0c7fe4c9 100644
--- a/wild_visual_navigation_jackal/config/rviz/open_source.rviz
+++ b/wild_visual_navigation_jackal/config/rviz/open_source.rviz
@@ -7,7 +7,6 @@ Panels:
         - /Global Options1
         - /TF1/Tree1
         - /World1/Status1
-        - /Robot Info1
         - /Wild Visual Navigation1
         - /Wild Visual Navigation1/Self Supervision1
         - /Wild Visual Navigation1/Cameras Resized1
@@ -65,6 +64,8 @@ Visualization Manager:
       Frame Timeout: 1000
       Frames:
         All Enabled: false
+        base:
+          Value: true
         base_link:
           Value: true
         chassis_link:
@@ -97,6 +98,8 @@ Visualization Manager:
           Value: true
         rear_right_wheel_link:
           Value: true
+        world:
+          Value: true
       Marker Alpha: 1
       Marker Scale: 0.5
       Name: TF
@@ -104,6 +107,8 @@ Visualization Manager:
       Show Axes: true
       Show Names: true
       Tree:
+        base:
+          {}
         odom:
           base_link:
             chassis_link:
@@ -130,6 +135,8 @@ Visualization Manager:
                 {}
               rear_right_wheel_link:
                 {}
+            world:
+              {}
       Update Interval: 0
       Value: true
     - Class: rviz/Marker
@@ -795,11 +802,27 @@ Visualization Manager:
           Value: false
       Enabled: true
       Name: GridMaps
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.10000000149011612
+      Class: rviz/Pose
+      Color: 255; 25; 0
+      Enabled: true
+      Head Length: 0.30000001192092896
+      Head Radius: 0.10000000149011612
+      Name: Pose
+      Queue Size: 10
+      Shaft Length: 1
+      Shaft Radius: 0.05000000074505806
+      Shape: Arrow
+      Topic: /move_base_simple/goal
+      Unreliable: false
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 255; 255; 255
     Default Light: true
-    Fixed Frame: odom
+    Fixed Frame: world
     Frame Rate: 30
   Name: root
   Tools:
@@ -823,7 +846,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/ThirdPersonFollower
-      Distance: 19.5626220703125
+      Distance: 47.735103607177734
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -831,17 +854,17 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: 6.84149169921875
-        Y: -0.8593425750732422
-        Z: 7.152557373046875e-07
+        X: 6.462728023529053
+        Y: -0.07755613327026367
+        Z: 9.5367431640625e-07
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.6603981852531433
+      Pitch: 0.7597965598106384
       Target Frame: base
-      Yaw: 5.903587341308594
+      Yaw: 6.278591632843018
     Saved: ~
 Window Geometry:
   AB Wide Angle Front:
@@ -863,7 +886,7 @@ Window Geometry:
     collapsed: false
   Learning Mask:
     collapsed: false
-  QMainWindow State: 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+  QMainWindow State: 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   R Confidence Overlay:
     collapsed: false
   R Traversability Overlay:
diff --git a/wild_visual_navigation_jackal/launch/sim.launch b/wild_visual_navigation_jackal/launch/sim.launch
index 8eeab1f5..a8442eca 100644
--- a/wild_visual_navigation_jackal/launch/sim.launch
+++ b/wild_visual_navigation_jackal/launch/sim.launch
@@ -8,7 +8,7 @@
     
     <arg name="x" default="0.0" />
     <arg name="y" default="5.0" />
-    <arg name="z" default="1.0" />
+    <arg name="z" default="0.0" />
     <arg name="yaw" default="0" />
   
     <!-- Launch Gazebo with the specified world -->
@@ -29,7 +29,9 @@
 
   <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
 	      args="-urdf -model jackal -param robot_description -x $(arg x) -y $(arg y) -z $(arg z) -R 0 -P 0 -Y $(arg yaw)" />
-
-  <node name="gazebo_world_publisher" pkg="wild_visual_navigation_jackal" type="gazebo_world_publisher.py"/>
   
+  <!-- Simulation demo helpers -->
+  <node name="gazebo_world_publisher" pkg="wild_visual_navigation_jackal" type="gazebo_world_publisher.py"/>
+  <node name="gazebo_world_publisher" pkg="wild_visual_navigation_jackal" type="carrot_follower.py"/>
+
 </launch>
diff --git a/wild_visual_navigation_jackal/scripts/carrot_follower.py b/wild_visual_navigation_jackal/scripts/carrot_follower.py
new file mode 100644
index 00000000..91e23b27
--- /dev/null
+++ b/wild_visual_navigation_jackal/scripts/carrot_follower.py
@@ -0,0 +1,89 @@
+#!/usr/bin/python3
+#
+# Copyright (c) 2022-2024, ETH Zurich, Matias Mattamala, Jonas Frey.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#
+# This script implements a simple carrot follower scheme.
+# Given a 2D Nav Goal from Rviz, it implements a simple P-control law
+# in x, y and yaw to reach the goal.
+# Control is done in the "world" frame (see gazebo_world_publisher)
+# so there is no state estimation drift for simplicity
+
+from geometry_msgs.msg import Twist, PoseStamped
+from gazebo_msgs.msg import LinkStates
+import rospy
+import math
+import numpy as np
+import tf.transformations as tr
+
+
+goal_x, goal_y = (None, None)
+
+MAX_LINEAR_VEL = 0.5
+MAX_ANGULAR_VEL = 0.7
+GAIN_LINEAR = 1.0
+GAIN_ANGULAR = 1.0
+DIST_THR = 0.1  # 10 cms
+
+
+def wrap_angle(angle):
+    angle = np.fmod(angle + np.pi, 2 * np.pi)
+    if angle < 0:
+        angle = angle + 2 * np.pi
+    return angle - np.pi
+
+
+def msg_to_se2(pose):
+    x = pose.position.x
+    y = pose.position.y
+    eul = tr.euler_from_quaternion(
+        np.array([pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w])
+    )
+    yaw = eul[2]
+    return x, y, yaw
+
+
+def goal_callback(goal_msg):
+    rospy.loginfo("New goal received")
+    global goal_x, goal_y
+    goal_x, goal_y, _ = msg_to_se2(goal_msg.pose)
+
+
+def gazebo_callback(msg):
+    global goal_x, goal_y
+    robot_x, robot_y, robot_yaw = msg_to_se2(msg.pose[1])
+    if goal_x is None or goal_y is None:
+        return
+    compute_cmd(goal_x, goal_y, robot_x, robot_y, robot_yaw)
+
+
+def compute_cmd(goal_x, goal_y, robot_x, robot_y, robot_yaw):
+    if goal_x is None or goal_y is None:
+        return
+
+    # Get angular difference
+    yaw_diff = wrap_angle(math.atan2(goal_y - robot_y, goal_x - robot_x) - robot_yaw)
+    # Get distance to goal
+    dist_diff = math.sqrt(((goal_y - robot_y) ** 2) + (goal_x - robot_x) ** 2)
+
+    twist_cmd = Twist()
+    if dist_diff > DIST_THR:
+        twist_cmd.angular.z = np.clip(GAIN_ANGULAR * yaw_diff, -MAX_ANGULAR_VEL, MAX_ANGULAR_VEL)
+        twist_cmd.linear.x = np.clip(GAIN_LINEAR * dist_diff, -MAX_LINEAR_VEL, MAX_LINEAR_VEL)
+    else:
+        twist_cmd.angular.z = 0.0
+        twist_cmd.linear.x = 0.0
+
+    # Compute control law
+    cmd_pub.publish(twist_cmd)
+
+
+if __name__ == "__main__":
+    rospy.init_node("jackal_carrot_follower")
+    gazebo_sub = rospy.Subscriber("/gazebo/link_states/", LinkStates, gazebo_callback, queue_size=5)
+    goal_sub = rospy.Subscriber("/move_base_simple/goal", PoseStamped, goal_callback, queue_size=5)
+
+    cmd_pub = rospy.Publisher("/cmd_vel", Twist, queue_size=5)
+    rospy.loginfo("[jackal_carrot_follower] ready")
+    rospy.spin()
diff --git a/wild_visual_navigation_jackal/scripts/gazebo_world_publisher.py b/wild_visual_navigation_jackal/scripts/gazebo_world_publisher.py
index 42b4086b..00038861 100644
--- a/wild_visual_navigation_jackal/scripts/gazebo_world_publisher.py
+++ b/wild_visual_navigation_jackal/scripts/gazebo_world_publisher.py
@@ -4,13 +4,75 @@
 # All rights reserved. Licensed under the MIT license.
 # See LICENSE file in the project root for details.
 #
+# This script publishes the simulation scene from the COLLADA (.dae) file
+# To be visualized on RViz. It also publishes the "world" frame, as a child
+# of the "base_link" frame, using the relative transformation between
+# both obtained from gazebo
 
 from visualization_msgs.msg import Marker
+from gazebo_msgs.msg import LinkStates
+from geometry_msgs.msg import Pose, Transform, TransformStamped
+
 import rospkg
 import rospy
+import tf2_ros
+import numpy as np
+import tf.transformations as tr
+
+
+def msg_to_se3(msg):
+    """Conversion from geometric ROS messages into SE(3)
+    Based on Jarvis Schultz's: https://answers.ros.org/question/332407/transformstamped-to-transformation-matrix-python/
+
+    @param msg: Message to transform. Acceptable types - C{geometry_msgs/Pose}, C{geometry_msgs/PoseStamped},
+    C{geometry_msgs/Transform}, or C{geometry_msgs/TransformStamped}
+    @return: a 4x4 SE(3) matrix as a numpy array
+    @note: Throws TypeError if we receive an incorrect type.
+    """
+    if isinstance(msg, Pose):
+        p = np.array([msg.position.x, msg.position.y, msg.position.z])
+        q = np.array([msg.orientation.x, msg.orientation.y, msg.orientation.z, msg.orientation.w])
+    elif isinstance(msg, Transform):
+        p = np.array([msg.translation.x, msg.translation.y, msg.translation.z])
+        q = np.array([msg.rotation.x, msg.rotation.y, msg.rotation.z, msg.rotation.w])
+    elif isinstance(msg, TransformStamped):
+        p = np.array([msg.transform.translation.x, msg.transform.translation.y, msg.transform.translation.z])
+        q = np.array(
+            [msg.transform.rotation.x, msg.transform.rotation.y, msg.transform.rotation.z, msg.transform.rotation.w]
+        )
+
+    norm = np.linalg.norm(q)
+    if np.abs(norm - 1.0) > 1e-3:
+        raise ValueError(
+            "Received un-normalized quaternion (q = {0:s} ||q|| = {1:3.6f})".format(str(q), np.linalg.norm(q))
+        )
+    elif np.abs(norm - 1.0) > 1e-6:
+        q = q / norm
+    g = tr.quaternion_matrix(q)
+    g[0:3, -1] = p
+    return g
 
 
-def callback(event):
+def gazebo_callback(msg):
+    stamp = rospy.Time.now()
+    T_world_base = msg_to_se3(msg.pose[1])  # this is the base_link pose in world frame (from gazebo)
+    T_base_world = np.linalg.inv(T_world_base)
+
+    br = tf2_ros.TransformBroadcaster()
+    t = TransformStamped()
+    t.header.stamp = stamp
+    t.header.frame_id = "base_link"
+    t.child_frame_id = "world"
+    t.transform.translation.x = T_base_world[0, 3]
+    t.transform.translation.y = T_base_world[1, 3]
+    t.transform.translation.z = T_base_world[2, 3]
+    q = tr.quaternion_from_matrix(T_base_world)
+    t.transform.rotation.x = q[0]
+    t.transform.rotation.y = q[1]
+    t.transform.rotation.z = q[2]
+    t.transform.rotation.w = q[3]
+    br.sendTransform(t)
+
     pub.publish(marker)
 
 
@@ -22,8 +84,12 @@ def callback(event):
     pkg_path = rospack.get_path("wild_visual_navigation_jackal")
     default_model_file = f"{pkg_path}/Media/models/outdoor.dae"
 
+    # Initialize tf
+    tf_buffer = tf2_ros.Buffer()
+    tf_listener = tf2_ros.TransformListener(tf_buffer)
+
     marker = Marker()
-    marker.header.frame_id = "odom"
+    marker.header.frame_id = "world"
     marker.header.stamp = rospy.Time.now()
     marker.id = 0
     marker.ns = "world"
@@ -37,10 +103,12 @@ def callback(event):
     marker.type = Marker.MESH_RESOURCE
     marker.mesh_resource = f"file://{default_model_file}"
 
+    # Set subscriber of gazebo links
+    gazebo_sub = rospy.Subscriber("/gazebo/link_states/", LinkStates, gazebo_callback, queue_size=10)
+
     # Set publisher
     pub = rospy.Publisher("/wild_visual_navigation_jackal/simulation_world", Marker, queue_size=10)
 
     # Set timer to publish
-    rospy.Timer(rospy.Duration(5), callback)
     rospy.loginfo("[gazebo_world_publisher] Published world!")
     rospy.spin()
diff --git a/wild_visual_navigation_jackal/worlds/outdoor.world b/wild_visual_navigation_jackal/worlds/outdoor.world
index baa0a315..83ed109a 100644
--- a/wild_visual_navigation_jackal/worlds/outdoor.world
+++ b/wild_visual_navigation_jackal/worlds/outdoor.world
@@ -23,7 +23,7 @@
     <model name="terrain">
 		<static>true</static>
 		<link name="terrain_link">
-			<pose>3 3 -1 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<collision name="terrain_collision">
 				<geometry>
 					<mesh>

From 4c0963bcd80d03d6d35e5d1080660010e6029ff4 Mon Sep 17 00:00:00 2001
From: Matias Mattamala <matias@robots.ox.ac.uk>
Date: Wed, 10 Apr 2024 19:11:56 +0100
Subject: [PATCH 3/6] Update sim world with trees

---
 .../Media/models/bark.jpg                     | Bin 0 -> 195180 bytes
 .../Media/models/leaves.png                   | Bin 0 -> 1186928 bytes
 .../Media/models/outdoor.dae                  | 515 +++++++++++++++++-
 .../config/rviz/open_source.rviz              |  46 +-
 .../launch/sim.launch                         |   2 +-
 5 files changed, 537 insertions(+), 26 deletions(-)
 create mode 100644 wild_visual_navigation_jackal/Media/models/bark.jpg
 create mode 100644 wild_visual_navigation_jackal/Media/models/leaves.png

diff --git a/wild_visual_navigation_jackal/Media/models/bark.jpg b/wild_visual_navigation_jackal/Media/models/bark.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..038626ee78ca20e0e8465520349d6f42b97547a6
GIT binary patch
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diff --git a/wild_visual_navigation_jackal/Media/models/outdoor.dae b/wild_visual_navigation_jackal/Media/models/outdoor.dae
index f659b894..f80ad5d8 100644
--- a/wild_visual_navigation_jackal/Media/models/outdoor.dae
+++ b/wild_visual_navigation_jackal/Media/models/outdoor.dae
@@ -5,12 +5,66 @@
       <author>Blender User</author>
       <authoring_tool>Blender 4.1.0 commit date:2024-03-25, commit time:20:42, hash:40a5e739e270</authoring_tool>
     </contributor>
-    <created>2024-04-09T15:46:11</created>
-    <modified>2024-04-09T15:46:11</modified>
+    <created>2024-04-10T19:05:37</created>
+    <modified>2024-04-10T19:05:37</modified>
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
   <library_effects>
+    <effect id="material0_001-effect">
+      <profile_COMMON>
+        <newparam sid="bark_jpg-surface">
+          <surface type="2D">
+            <init_from>bark_jpg</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="bark_jpg-sampler">
+          <sampler2D>
+            <source>bark_jpg-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="bark_jpg-sampler" texcoord="shape0_001-mesh-map-0"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="material0_002-effect">
+      <profile_COMMON>
+        <newparam sid="leaves_png-surface">
+          <surface type="2D">
+            <init_from>leaves_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="leaves_png-sampler">
+          <sampler2D>
+            <source>leaves_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="leaves_png-sampler" texcoord="shape0_001-mesh-map-0"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
     <effect id="Terrain_001-effect">
       <profile_COMMON>
         <newparam sid="terrain_texture_jpg-surface">
@@ -26,10 +80,10 @@
         <technique sid="common">
           <lambert>
             <emission>
-              <color>0.8 0.8 0.8 1</color>
+              <color>1.0 1.0 1.0 1</color>
             </emission>
              <ambient>
-               <color>0.8 0.8 0.8 1</color>
+               <color>1.0 1.0 1.0 1</color>
              </ambient>
             <diffuse>
               <texture texture="terrain_texture_jpg-sampler" texcoord="Plane-mesh-map-0"/>
@@ -46,16 +100,364 @@
     </effect>
   </library_effects>
   <library_images>
+    <image id="bark_jpg" name="bark_jpg">
+      <init_from>bark.jpg</init_from>
+    </image>
+    <image id="leaves_png" name="leaves_png">
+      <init_from>leaves.png</init_from>
+    </image>
     <image id="terrain_texture_jpg" name="terrain_texture_jpg">
       <init_from>terrain_texture.jpg</init_from>
     </image>
   </library_images>
   <library_materials>
+    <material id="material0_001-material" name="material0.001">
+      <instance_effect url="#material0_001-effect"/>
+    </material>
+    <material id="material0_002-material" name="material0.002">
+      <instance_effect url="#material0_002-effect"/>
+    </material>
     <material id="Terrain_001-material" name="Terrain.001">
       <instance_effect url="#Terrain_001-effect"/>
     </material>
   </library_materials>
   <library_geometries>
+    <geometry id="shape0_008-mesh" name="shape0.008">
+      <mesh>
+        <source id="shape0_008-mesh-positions">
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+          <input semantic="NORMAL" source="#shape0_008-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#shape0_008-mesh-map-0" offset="2" set="0"/>
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1199 2427 1002 1200 2428 994 1201 2429 990 1202 2430 998 1203 2431 997 1204 2432 990 1205 2433 997 1206 2434 989 1207 2435 992 1208 2436 1000 1209 2437 999 1210 2438 992 1211 2439 999 1212 2440 991 1213 2441 995 1214 2442 1003 1214 2443 1001 1214 2444 995 1215 2445 1001 1215 2446 993 1215 2447 996 16 2448 1004 16 2449 1010 16 2450 996 1216 2451 1010 1217 2452 1002 1218 2453 998 16 2454 1006 16 2455 1005 16 2456 998 1219 2457 1005 1219 2458 997 1219 2459 1000 16 2460 1008 16 2461 1007 16 2462 1000 1220 2463 1007 1221 2464 999 1222 2465 1003 16 2466 1011 16 2467 1009 16 2468 1003 1223 2469 1009 1223 2470 1001 1223 2471 1012 1224 2472 1020 1224 2473 1026 1224 2474 1012 1225 2475 1026 1225 2476 1018 1225 2477 1014 1226 2478 1022 1226 2479 1021 1226 2480 1014 1227 2481 1021 1227 2482 1013 1227 2483 1016 1228 2484 1024 1229 2485 1023 1230 2486 1016 1231 2487 1023 1231 2488 1015 1231 2489 1019 1232 2490 1027 1232 2491 1025 1232 2492 1019 1233 2493 1025 1233 2494 1017 1233 2495 1020 1234 2496 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+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
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+          </technique_common>
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+        </vertices>
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1087 1305 2632 1079 1305 2633 1083 1306 2634 1091 1307 2635 1089 1308 2636 1083 1309 2637 1089 1310 2638 1081 1311 2639 1084 1312 2640 1092 1312 2641 1098 1312 2642 1084 1313 2643 1098 1313 2644 1090 1313 2645 1086 1314 2646 1094 1314 2647 1093 1314 2648 1086 1315 2649 1093 1315 2650 1085 1315 2651 1088 1316 2652 1096 1316 2653 1095 1316 2654 1088 1317 2655 1095 1317 2656 1087 1317 2657 1091 1318 2658 1099 1318 2659 1097 1318 2660 1091 1319 2661 1097 1319 2662 1089 1319 2663 1092 1320 2664 1100 1320 2665 1109 1320 2666 1092 1321 2667 1109 1321 2668 1098 1321 2669 1094 1322 2670 1103 1322 2671 1101 1322 2672 1094 1323 2673 1101 1323 2674 1093 1323 2675 1096 1324 2676 1106 1324 2677 1104 1324 2678 1096 1325 2679 1104 1325 2680 1095 1325 2681 1099 1326 2682 1110 1326 2683 1107 1326 2684 1099 1327 2685 1107 1327 2686 1097 1327 2687 1102 16 2688 1112 16 2689 1118 16 2690 1102 1328 2691 1118 1328 2692 1111 1328 2693 1103 16 2694 1114 16 2695 1113 16 2696 1103 1329 2697 1113 1329 2698 1101 1329 2699 1108 16 2700 1116 16 2701 1115 16 2702 1108 1330 2703 1115 1330 2704 1105 1330 2705 1110 16 2706 1119 16 2707 1117 16 2708 1110 1331 2709 1117 1331 2710 1107 1331 2711 1120 1332 2712 1128 1333 2713 1134 1334 2714 1120 1335 2715 1134 1335 2716 1126 1335 2717 1122 1336 2718 1130 1337 2719 1129 1338 2720 1122 1339 2721 1129 1339 2722 1121 1339 2723 1124 1340 2724 1132 1341 2725 1131 1342 2726 1124 1343 2727 1131 1343 2728 1123 1343 2729 1127 1344 2730 1135 1344 2731 1133 1344 2732 1127 1345 2733 1133 1345 2734 1125 1345 2735 1128 1346 2736 1136 1347 2737 1142 1348 2738 1128 1349 2739 1142 1349 2740 1134 1349 2741 1130 1350 2742 1138 1351 2743 1137 1352 2744 1130 1353 2745 1137 1354 2746 1129 1355 2747 1132 1356 2748 1140 1357 2749 1139 1358 2750 1132 1359 2751 1139 1359 2752 1131 1359 2753 1135 1360 2754 1143 1361 2755 1141 1362 2756 1135 1363 2757 1141 1364 2758 1133 1365 2759 1136 1366 2760 1144 1366 2761 1150 1366 2762 1136 1367 2763 1150 1368 2764 1142 1369 2765 1138 1370 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+        </triangles>
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+          <input semantic="VERTEX" source="#shape0_006-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#shape0_006-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#shape0_006-mesh-map-0" offset="2" set="0"/>
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+          <input semantic="TEXCOORD" source="#shape0_005-mesh-map-0" offset="2" set="0"/>
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1127 2283 946 1127 2284 938 1127 2285 934 1128 2286 942 1128 2287 941 1128 2288 934 1129 2289 941 1129 2290 933 1129 2291 936 1130 2292 944 1130 2293 943 1130 2294 936 1131 2295 943 1132 2296 935 1133 2297 939 1134 2298 947 1134 2299 945 1134 2300 939 1135 2301 945 1136 2302 937 1137 2303 940 1138 2304 948 1139 2305 954 1140 2306 940 1141 2307 954 1141 2308 946 1141 2309 942 1142 2310 950 1143 2311 949 1144 2312 942 1145 2313 949 1145 2314 941 1145 2315 944 1146 2316 952 1146 2317 951 1146 2318 944 1147 2319 951 1147 2320 943 1147 2321 947 1148 2322 955 1148 2323 953 1148 2324 947 1149 2325 953 1149 2326 945 1149 2327 948 16 2328 956 16 2329 962 16 2330 948 1150 2331 962 1150 2332 954 1150 2333 950 16 2334 958 16 2335 957 16 2336 950 1151 2337 957 1151 2338 949 1151 2339 952 1152 2340 960 1152 2341 959 1152 2342 952 1153 2343 959 1153 2344 951 1153 2345 955 16 2346 963 16 2347 961 16 2348 955 1154 2349 961 1154 2350 953 1154 2351 964 1155 2352 972 1155 2353 978 1155 2354 964 1156 2355 978 1157 2356 970 1158 2357 966 1159 2358 974 1159 2359 973 1159 2360 966 1160 2361 973 1160 2362 965 1160 2363 968 1161 2364 976 1161 2365 975 1161 2366 968 1162 2367 975 1162 2368 967 1162 2369 971 1163 2370 979 1163 2371 977 1163 2372 971 1164 2373 977 1164 2374 969 1164 2375 972 1165 2376 980 1166 2377 986 1167 2378 972 1168 2379 986 1168 2380 978 1168 2381 974 1169 2382 982 1170 2383 981 1170 2384 974 1171 2385 981 1171 2386 973 1171 2387 976 1172 2388 984 1173 2389 983 1173 2390 976 1174 2391 983 1175 2392 975 1176 2393 979 1177 2394 987 1178 2395 985 1179 2396 979 1180 2397 985 1180 2398 977 1180 2399 980 1181 2400 988 1182 2401 994 1183 2402 980 1184 2403 994 1184 2404 986 1185 2405 982 1186 2406 990 1187 2407 989 1188 2408 982 1189 2409 989 1189 2410 981 1189 2411 984 1190 2412 992 1191 2413 991 1191 2414 984 1192 2415 991 1192 2416 983 1192 2417 987 1193 2418 995 1193 2419 993 1194 2420 987 1195 2421 993 1195 2422 985 1195 2423 988 1196 2424 996 1197 2425 1002 1198 2426 988 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+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
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2563 1055 1269 2564 1049 1270 2565 1055 1270 2566 1047 1270 2567 1050 16 2568 1060 16 2569 1066 16 2570 1050 1271 2571 1066 1271 2572 1057 1271 2573 1052 16 2574 1062 16 2575 1061 16 2576 1052 1272 2577 1061 1272 2578 1051 1272 2579 1054 16 2580 1064 16 2581 1063 16 2582 1054 1273 2583 1063 1274 2584 1053 1275 2585 1059 16 2586 1067 16 2587 1065 16 2588 1059 1276 2589 1065 1277 2590 1056 1278 2591 1068 1279 2592 1076 1280 2593 1082 1279 2594 1068 1281 2595 1082 1281 2596 1074 1281 2597 1070 1282 2598 1078 1282 2599 1077 1282 2600 1070 1283 2601 1077 1283 2602 1069 1283 2603 1072 1284 2604 1080 1285 2605 1079 1286 2606 1072 1287 2607 1079 1288 2608 1071 1289 2609 1075 1290 2610 1083 1291 2611 1081 1292 2612 1075 1293 2613 1081 1294 2614 1073 1295 2615 1076 1296 2616 1084 1296 2617 1090 1296 2618 1076 1297 2619 1090 1297 2620 1082 1297 2621 1078 1298 2622 1086 1299 2623 1085 1300 2624 1078 1301 2625 1085 1301 2626 1077 1301 2627 1080 1302 2628 1088 1303 2629 1087 1304 2630 1080 1305 2631 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+        </triangles>
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+          <input semantic="VERTEX" source="#shape0_003-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#shape0_003-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#shape0_003-mesh-map-0" offset="2" set="0"/>
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+          <input semantic="NORMAL" source="#shape0_001-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#shape0_001-mesh-map-0" offset="2" set="0"/>
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7017 3774 3044 7018 3775 3044 7019 3776 3045 7020 3777 3045 7021 3778 3045 7022 3776 3046 7023 3778 3046 7024 3779 3046 7025 3780 3047 7026 3781 3047 7027 3782 3047 7028 3780 3048 7029 3782 3048 7030 3783 3048 7031 3784 3049 7032 3785 3049 7033 3786 3049 7034 3784 3050 7035 3786 3050 7036 3787 3050 7037 3788 3051 7038 3789 3051 7039 3790 3051 7040 3788 3052 7041 3790 3052 7042 3791 3052 7043 3792 3053 7044 3793 3053 7045 3794 3053 7046 3792 3054 7047 3794 3054 7048 3795 3054 7049 3796 3055 7050 3797 3055 7051 3798 3055 7052 3796 3056 7053 3798 3056 7054 3799 3056 7055 3800 3057 7056 3801 3057 7057 3802 3057 7058 3800 3058 7059 3802 3058 7060 3803 3058 7061 3804 3059 7062 3805 3059 7063 3806 3059 7064 3804 3060 7065 3806 3060 7066 3807 3060 7067 3808 3061 7068 3809 3061 7069 3810 3061 7070 3808 3062 7071 3810 3062 7072 3811 3062 7073 3812 3063 7074 3813 3063 7075 3814 3063 7076 3812 3064 7077 3814 3064 7078 3815 3064 7079 3816 3065 7080 3817 3065 7081 3818 3065 7082 3816 3066 7083 3818 3066 7084 3819 3066 7085 3820 3067 7086 3821 3067 7087 3822 3067 7088 3820 3068 7089 3822 3068 7090 3823 3068 7091 3824 3069 7092 3825 3069 7093 3826 3069 7094 3824 3070 7095 3826 3070 7096 3827 3070 7097 3828 3071 7098 3829 3071 7099 3830 3071 7100 3828 3072 7101 3830 3072 7102 3831 3072 7103 3832 3073 7104 3833 3073 7105 3834 3073 7106 3832 3074 7107 3834 3074 7108 3835 3074 7109 3836 3075 7110 3837 3075 7111 3838 3075 7112 3836 3076 7113 3838 3076 7114 3839 3076 7115 3840 3077 7116 3841 3077 7117 3842 3077 7118 3840 3078 7119 3842 3078 7120 3843 3078 7121 3844 3079 7122 3845 3079 7123 3846 3079 7124 3844 3080 7125 3846 3080 7126 3847 3080 7127 3848 3081 7128 3849 3081 7129 3850 3081 7130 3848 3082 7131 3850 3082 7132 3851 3082 7133 3852 3083 7134 3853 3083 7135 3854 3083 7136 3852 3084 7137 3854 3084 7138 3855 3084 7139 3856 3085 7140 3857 3085 7141 3858 3085 7142 3856 3086 7143 3858 3086 7144 3859 3086 7145 3860 3087 7146 3861 3087 7147 3862 3087 7148 3860 3088 7149 3862 3088 7150 3863 3088 7151 3864 3089 7152 3865 3089 7153 3866 3089 7154 3864 3090 7155 3866 3090 7156 3867 3090 7157 3868 3091 7158 3869 3091 7159 3870 3091 7160 3868 3092 7161 3870 3092 7162 3871 3092 7163 3872 3093 7164 3873 3093 7165 3874 3093 7166 3872 3094 7167 3874 3094 7168 3875 3094 7169 3876 3095 7170 3877 3095 7171 3878 3095 7172 3876 3096 7173 3878 3096 7174 3879 3096 7175 3880 3097 7176 3881 3097 7177 3882 3097 7178 3880 3098 7179 3882 3098 7180 3883 3098 7181 3884 3099 7182 3885 3099 7183 3886 3099 7184 3884 3100 7185 3886 3100 7186 3887 3100 7187 3888 3101 7188 3889 3101 7189 3890 3101 7190 3888 3102 7191 3890 3102 7192 3891 3102 7193 3892 3103 7194 3893 3103 7195 3894 3103 7196 3892 3104 7197 3894 3104 7198 3895 3104 7199 3896 3105 7200 3897 3105 7201 3898 3105 7202 3896 3106 7203 3898 3106 7204 3899 3106 7205 3900 3107 7206 3901 3107 7207 3902 3107 7208 3900 3108 7209 3902 3108 7210 3903 3108 7211 3904 3109 7212 3905 3109 7213 3906 3109 7214 3904 3110 7215 3906 3110 7216 3907 3110 7217 3908 3111 7218 3909 3111 7219 3910 3111 7220 3908 3112 7221 3910 3112 7222 3911 3112 7223 3912 3113 7224 3913 3113 7225 3914 3113 7226 3912 3114 7227 3914 3114 7228 3915 3114 7229 3916 3115 7230 3917 3115 7231 3918 3115 7232 3916 3116 7233 3918 3116 7234 3919 3116 7235 3920 3117 7236 3921 3117 7237 3922 3117 7238 3920 3118 7239 3922 3118 7240 3923 3118 7241 3924 3119 7242 3925 3119 7243 3926 3119 7244 3924 3120 7245 3926 3120 7246 3927 3120 7247 3928 3121 7248 3929 3121 7249 3930 3121 7250 3928 3122 7251 3930 3122 7252 3931 3122 7253 3932 3123 7254 3933 3123 7255 3934 3123 7256 3932 3124 7257 3934 3124 7258 3935 3124 7259 3936 3125 7260 3937 3125 7261 3938 3125 7262 3936 3126 7263 3938 3126 7264 3939 3126 7265 3940 3127 7266 3941 3127 7267 3942 3127 7268 3940 3128 7269 3942 3128 7270 3943 3128 7271 3944 3129 7272 3945 3129 7273 3946 3129 7274 3944 3130 7275 3946 3130 7276 3947 3130 7277 3948 3131 7278 3949 3131 7279 3950 3131 7280 3948 3132 7281 3950 3132 7282 3951 3132 7283 3952 3133 7284 3953 3133 7285 3954 3133 7286 3952 3134 7287 3954 3134 7288 3955 3134 7289 3956 3135 7290 3957 3135 7291 3958 3135 7292 3956 3136 7293 3958 3136 7294 3959 3136 7295 3960 3137 7296 3961 3137 7297 3962 3137 7298 3960 3138 7299 3962 3138 7300 3963 3138 7301 3964 3139 7302 3965 3139 7303 3966 3139 7304 3964 3140 7305 3966 3140 7306 3967 3140 7307 3968 3141 7308 3969 3141 7309 3970 3141 7310 3968 3142 7311 3970 3142 7312 3971 3142 7313 3972 3143 7314 3973 3143 7315 3974 3143 7316 3972 3144 7317 3974 3144 7318 3975 3144 7319 3976 3145 7320 3977 3145 7321 3978 3145 7322 3976 3146 7323 3978 3146 7324 3979 3146 7325 3980 3147 7326 3981 3147 7327 3982 3147 7328 3980 3148 7329 3982 3148 7330 3983 3148 7331 3984 3149 7332 3985 3149 7333 3986 3149 7334 3984 3150 7335 3986 3150 7336 3987 3150 7337 3988 3151 7338 3989 3151 7339 3990 3151 7340 3988 3152 7341 3990 3152 7342 3991 3152 7343 3992 3153 7344 3993 3153 7345 3994 3153 7346 3992 3154 7347 3994 3154 7348 3995 3154 7349 3996 3155 7350 3997 3155 7351 3998 3155 7352 3996 3156 7353 3998 3156 7354 3999 3156 7355 4000 3157 7356 4001 3157 7357 4002 3157 7358 4000 3158 7359 4002 3158 7360 4003 3158 7361 4004 3159 7362 4005 3159 7363 4006 3159 7364 4004 3160 7365 4006 3160 7366 4007 3160 7367 4008 3161 7368 4009 3161 7369 4010 3161 7370 4008 3162 7371 4010 3162 7372 4011 3162 7373 4012 3163 7374 4013 3163 7375 4014 3163 7376 4012 3164 7377 4014 3164 7378 4015 3164 7379 4016 3165 7380 4017 3165 7381 4018 3165 7382 4016 3166 7383 4018 3166 7384 4019 3166 7385 4020 3167 7386 4021 3167 7387 4022 3167 7388 4020 3168 7389 4022 3168 7390 4023 3168 7391 4024 3169 7392 4025 3169 7393 4026 3169 7394 4024 3170 7395 4026 3170 7396 4027 3170 7397 4028 3171 7398 4029 3171 7399 4030 3171 7400 4028 3172 7401 4030 3172 7402 4031 3172 7403 4032 3173 7404 4033 3173 7405 4034 3173 7406 4032 3174 7407 4034 3174 7408 4035 3174 7409 4036 3175 7410 4037 3175 7411 4038 3175 7412 4036 3176 7413 4038 3176 7414 4039 3176 7415 4040 3177 7416 4041 3177 7417 4042 3177 7418 4040 3178 7419 4042 3178 7420 4043 3178 7421 4044 3179 7422 4045 3179 7423 4046 3179 7424 4044 3180 7425 4046 3180 7426 4047 3180 7427 4048 3181 7428 4049 3181 7429 4050 3181 7430 4048 3182 7431 4050 3182 7432 4051 3182 7433 4052 3183 7434 4053 3183 7435 4054 3183 7436 4052 3184 7437 4054 3184 7438 4055 3184 7439 4056 3185 7440 4057 3185 7441 4058 3185 7442 4056 3186 7443 4058 3186 7444 4059 3186 7445 4060 3187 7446 4061 3187 7447 4062 3187 7448 4060 3188 7449 4062 3188 7450 4063 3188 7451 4064 3189 7452 4065 3189 7453 4066 3189 7454 4064 3190 7455 4066 3190 7456 4067 3190 7457 4068 3191 7458 4069 3191 7459 4070 3191 7460 4068 3192 7461 4070 3192 7462 4071 3192 7463 4072 3193 7464 4073 3193 7465 4074 3193 7466 4072 3194 7467 4074 3194 7468 4075 3194 7469 4076 3195 7470 4077 3195 7471 4078 3195 7472 4076 3196 7473 4078 3196 7474 4079 3196 7475 4080 3197 7476 4081 3197 7477 4082 3197 7478 4080 3198 7479 4082 3198 7480 4083 3198 7481 4084 3199 7482 4085 3199 7483 4086 3199 7484 4084 3200 7485 4086 3200 7486 4087 3200 7487 4088 3201 7488 4089 3201 7489 4090 3201 7490 4088 3202 7491 4090 3202 7492 4091 3202 7493 4092 3203 7494 4093 3203 7495 4094 3203 7496 4092 3204 7497 4094 3204 7498 4095 3204 7499 4096 3205 7500 4097 3205 7501 4098 3205 7502 4096 3206 7503 4098 3206 7504 4099 3206 7505 4100 3207 7506 4101 3207 7507 4102 3207 7508 4100 3208 7509 4102 3208 7510 4103 3208 7511 4104 3209 7512 4105 3209 7513 4106 3209 7514 4104 3210 7515 4106 3210 7516 4107 3210 7517 4108 3211 7518 4109 3211 7519 4110 3211 7520 4108 3212 7521 4110 3212 7522 4111 3212 7523 4112 3213 7524 4113 3213 7525 4114 3213 7526 4112 3214 7527 4114 3214 7528 4115 3214 7529 4116 3215 7530 4117 3215 7531 4118 3215 7532 4116 3216 7533 4118 3216 7534 4119 3216 7535 4120 3217 7536 4121 3217 7537 4122 3217 7538 4120 3218 7539 4122 3218 7540 4123 3218 7541 4124 3219 7542 4125 3219 7543 4126 3219 7544 4124 3220 7545 4126 3220 7546 4127 3220 7547 4128 3221 7548 4129 3221 7549 4130 3221 7550 4128 3222 7551 4130 3222 7552 4131 3222 7553 4132 3223 7554 4133 3223 7555 4134 3223 7556 4132 3224 7557 4134 3224 7558 4135 3224 7559 4136 3225 7560 4137 3225 7561 4138 3225 7562 4136 3226 7563 4138 3226 7564 4139 3226 7565 4140 3227 7566 4141 3227 7567 4142 3227 7568 4140 3228 7569 4142 3228 7570 4143 3228 7571 4144 3229 7572 4145 3229 7573 4146 3229 7574 4144 3230 7575 4146 3230 7576 4147 3230 7577 4148 3231 7578 4149 3231 7579 4150 3231 7580 4148 3232 7581 4150 3232 7582 4151 3232 7583 4152 3233 7584 4153 3233 7585 4154 3233 7586 4152 3234 7587 4154 3234 7588 4155 3234 7589</p>
+        </triangles>
+      </mesh>
+    </geometry>
     <geometry id="Plane-mesh" name="Plane">
       <mesh>
         <source id="Plane-mesh-positions">
@@ -101,6 +503,111 @@
   </library_geometries>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
+      <node id="node_008" name="node.008" type="NODE">
+        <matrix sid="transform">0.25 0 0 1.344689 0 0.25 0 5.871227 0 0 0.25 -0.7080482 0 0 0 1</matrix>
+        <instance_geometry url="#shape0_008-mesh" name="node.008">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material0_001-material" target="#material0_001-material">
+                <bind_vertex_input semantic="shape0_001-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="material0_002-material" target="#material0_002-material">
+                <bind_vertex_input semantic="shape0_001-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="node_007" name="node.007" type="NODE">
+        <matrix sid="transform">0.25 0 0 9.72777 0 0.25 0 -2.548708 0 0 0.25 -0.4596367 0 0 0 1</matrix>
+        <instance_geometry url="#shape0_007-mesh" name="node.007">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material0_001-material" target="#material0_001-material">
+                <bind_vertex_input semantic="shape0_001-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="material0_002-material" target="#material0_002-material">
+                <bind_vertex_input semantic="shape0_001-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="node_006" name="node.006" type="NODE">
+        <matrix sid="transform">0.4 0 0 6.105964 0 0.4 0 3.895045 0 0 0.25 -0.5137817 0 0 0 1</matrix>
+        <instance_geometry url="#shape0_006-mesh" name="node.006">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material0_001-material" target="#material0_001-material">
+                <bind_vertex_input semantic="shape0_001-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="material0_002-material" target="#material0_002-material">
+                <bind_vertex_input semantic="shape0_001-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="node_005" name="node.005" type="NODE">
+        <matrix sid="transform">0.25 0 0 -9.226704 0 0.25 0 -0.2310615 0 0 0.25 -0.419471 0 0 0 1</matrix>
+        <instance_geometry url="#shape0_005-mesh" name="node.005">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material0_001-material" target="#material0_001-material">
+                <bind_vertex_input semantic="shape0_001-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="material0_002-material" target="#material0_002-material">
+                <bind_vertex_input semantic="shape0_001-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="node_004" name="node.004" type="NODE">
+        <matrix sid="transform">0.5 0 0 -9.046861 0 0.5 0 5.49972 0 0 0.25 -0.5179946 0 0 0 1</matrix>
+        <instance_geometry url="#shape0_004-mesh" name="node.004">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material0_001-material" target="#material0_001-material">
+                <bind_vertex_input semantic="shape0_001-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="material0_002-material" target="#material0_002-material">
+                <bind_vertex_input semantic="shape0_001-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="node_003" name="node.003" type="NODE">
+        <matrix sid="transform">0.7 0 0 -3.521339 0 0.7 0 4.106574 0 0 0.25 -0.4720868 0 0 0 1</matrix>
+        <instance_geometry url="#shape0_003-mesh" name="node.003">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material0_001-material" target="#material0_001-material">
+                <bind_vertex_input semantic="shape0_001-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="material0_002-material" target="#material0_002-material">
+                <bind_vertex_input semantic="shape0_001-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="node_001" name="node.001" type="NODE">
+        <matrix sid="transform">0.25 0 0 1.372529 0 0.25 0 2.173859 0 0 0.25 -0.7425895 0 0 0 1</matrix>
+        <instance_geometry url="#shape0_001-mesh" name="node.001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material0_001-material" target="#material0_001-material">
+                <bind_vertex_input semantic="shape0_001-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="material0_002-material" target="#material0_002-material">
+                <bind_vertex_input semantic="shape0_001-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
       <node id="Plane" name="Plane" type="NODE">
         <matrix sid="transform">15 0 0 0 0 15 0 0 0 0 1 7.5 0 0 0 1</matrix>
         <instance_geometry url="#Plane-mesh" name="Plane">
diff --git a/wild_visual_navigation_jackal/config/rviz/open_source.rviz b/wild_visual_navigation_jackal/config/rviz/open_source.rviz
index 0c7fe4c9..26935db6 100644
--- a/wild_visual_navigation_jackal/config/rviz/open_source.rviz
+++ b/wild_visual_navigation_jackal/config/rviz/open_source.rviz
@@ -802,22 +802,26 @@ Visualization Manager:
           Value: false
       Enabled: true
       Name: GridMaps
-    - Alpha: 1
-      Axes Length: 1
-      Axes Radius: 0.10000000149011612
-      Class: rviz/Pose
-      Color: 255; 25; 0
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 1
+          Axes Length: 1
+          Axes Radius: 0.10000000149011612
+          Class: rviz/Pose
+          Color: 245; 121; 0
+          Enabled: true
+          Head Length: 0.6000000238418579
+          Head Radius: 0.6000000238418579
+          Name: Carrot
+          Queue Size: 10
+          Shaft Length: 1
+          Shaft Radius: 0.30000001192092896
+          Shape: Arrow
+          Topic: /move_base_simple/goal
+          Unreliable: false
+          Value: true
       Enabled: true
-      Head Length: 0.30000001192092896
-      Head Radius: 0.10000000149011612
-      Name: Pose
-      Queue Size: 10
-      Shaft Length: 1
-      Shaft Radius: 0.05000000074505806
-      Shape: Arrow
-      Topic: /move_base_simple/goal
-      Unreliable: false
-      Value: true
+      Name: Carrot Follower
   Enabled: true
   Global Options:
     Background Color: 255; 255; 255
@@ -846,7 +850,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/ThirdPersonFollower
-      Distance: 47.735103607177734
+      Distance: 12.95793628692627
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -854,17 +858,17 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: 6.462728023529053
-        Y: -0.07755613327026367
-        Z: 9.5367431640625e-07
+        X: 4.059267044067383
+        Y: 0.8467369079589844
+        Z: -4.547028311208123e-06
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.7597965598106384
+      Pitch: 1.0497957468032837
       Target Frame: base
-      Yaw: 6.278591632843018
+      Yaw: 1.760424256324768
     Saved: ~
 Window Geometry:
   AB Wide Angle Front:
diff --git a/wild_visual_navigation_jackal/launch/sim.launch b/wild_visual_navigation_jackal/launch/sim.launch
index a8442eca..9e95fcfc 100644
--- a/wild_visual_navigation_jackal/launch/sim.launch
+++ b/wild_visual_navigation_jackal/launch/sim.launch
@@ -32,6 +32,6 @@
   
   <!-- Simulation demo helpers -->
   <node name="gazebo_world_publisher" pkg="wild_visual_navigation_jackal" type="gazebo_world_publisher.py"/>
-  <node name="gazebo_world_publisher" pkg="wild_visual_navigation_jackal" type="carrot_follower.py"/>
+  <node name="jackal_carrot_follower" pkg="wild_visual_navigation_jackal" type="carrot_follower.py"/>
 
 </launch>

From e9dfdfab03fa1fde5ee650991e05b9dd4d85f099 Mon Sep 17 00:00:00 2001
From: Matias Mattamala <matias@robots.ox.ac.uk>
Date: Wed, 10 Apr 2024 20:28:29 +0100
Subject: [PATCH 4/6] Add sim_demo image

---
 README.md                                     |  32 +++++++-----
 assets/images/sim_demo.jpg                    | Bin 0 -> 438188 bytes
 docker/Dockerfile                             |   2 +
 docker/README.md                              |  46 ++++++++++--------
 docker/docker-compose-gui-nvidia.yaml         |   1 -
 docker/docker-compose-gui.yaml                |   1 -
 docker/docker-compose-nvidia.yaml             |   1 -
 docker/docker-compose.yaml                    |   9 +---
 docker/first_run.sh                           |  15 ++++++
 wild_visual_navigation_jackal/README.md       |   4 +-
 .../launch/sim.launch                         |   3 ++
 .../launch/teleop.launch                      |   7 ---
 .../scripts/carrot_follower.py                |   2 +-
 .../scripts/gazebo_world_publisher.py         |   9 ++++
 14 files changed, 77 insertions(+), 55 deletions(-)
 create mode 100644 assets/images/sim_demo.jpg
 create mode 100755 docker/first_run.sh
 delete mode 100644 wild_visual_navigation_jackal/launch/teleop.launch

diff --git a/README.md b/README.md
index 60ec8729..0b92c94e 100644
--- a/README.md
+++ b/README.md
@@ -26,9 +26,14 @@
 
 <img align="right" width="40" height="40" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/dino.png" alt="Dino"> 
 
-## Installation
+## Setup
 
-### Minimal
+### Quick simulation demo
+We prepared a quick-start simulation with a Jackal robot using Docker. Please check the instructions [here](docker/README.md)
+
+![Overview](./assets/images/sim_demo.jpg)
+
+### Minimal setup
 Clone the WVN and our STEGO reimplementation.
 ```shell
 mkdir ~/git && cd ~/git 
@@ -73,8 +78,8 @@ pip3 install -e ./self_supervised_segmentation
  ┣ 📂wild_visual_navigation_msgs              # ROS1 message definitions
  ┣ 📂wild_visual_navigation_ros               # ROS1 nodes for running WVN 
     ┗ 📂scripts                               
-       ┗ 📜 wvn_feature_extractor_node.py     
-       ┗ 📜 wvn_learning_node.py    
+       ┗ 📜 wvn_feature_extractor_node.py     # Main process for feature extraction and inference
+       ┗ 📜 wvn_learning_node.py              # Main process that generates supervision signals and the online training loop
  ┗ 📜 quick_start.py                          # Inferencing demo_data from pre-trained checkpoints
 ```
 ### Features
@@ -87,7 +92,7 @@ pip3 install -e ./self_supervised_segmentation
 
 <img align="right" width="40" height="40" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/dino.png" alt="Dino"> 
 
-## Experiments
+## Demos
 
 ### Inference of pre-trained model
 
@@ -105,11 +110,11 @@ python3 quick_start.py
 ```
 
 ### Online adaptation [Simulation]
-Instructions can be found within [wild_visual_navigation_jackal/README.md](wild_visual_navigation_jackal/README.md).
+We prepared a Docker image to run a simulation with a Jackal robot, check the instructions [here](docker/README.md).
 
 ### Online adaptation [Rosbag]
-#### Download Rosbags:
-To quickly test out online training and adaption we provide some example rosbags ( [GDrive](https://drive.google.com/drive/folders/1Rf2TRPT6auFxOpnV9-ZfVMjmsvdsrSD3?usp=sharing) ), collected with our ANYmal D robot.
+#### Download rosbags:
+To quickly test out online training and adaption we provide some example rosbags ([GDrive](https://drive.google.com/drive/folders/1Rf2TRPT6auFxOpnV9-ZfVMjmsvdsrSD3?usp=sharing)), collected with our ANYmal D robot.
 
 #### Example Result:
 <div align="center">
@@ -121,7 +126,7 @@ To quickly test out online training and adaption we provide some example rosbags
 
 </div>
 
-#### ROS-Setup:
+#### ROS Setup:
 ```shell
 # Create new catkin workspace
 source /opt/ros/noetic/setup.bash
@@ -150,7 +155,7 @@ source /opt/ros/noetic/setup.bash
 source ~/catkin_ws/devel/setup.bash
 ```
 
-After successfully building the ros workspace, you can run the entire pipeline by either using the launch file or by running the nodes individually.
+After successfully building the ROS workspace, you can run the entire pipeline by either using the launch file or by running the nodes individually.
 Open multiple terminals and run the following commands:
 
 - Run wild_visual_navigation
@@ -184,13 +189,15 @@ python wild_visual_navigation_ros/scripts/wvn_learning_node.py
 - The general configuration files can be found under: `wild_visual_navigation/cfg/experiment_params.py`
 - This configuration is used in the `offline-model-training` and in the `online-ros` mode.
 - When running the `online-ros` mode, additional configurations for the individual nodes are defined in `wild_visual_navigation/cfg/ros_params.py`.
-- These configuration file is filled based on the rosparameter-server during runtime.
+- These configuration file is filled based on the ROS parameter server during runtime.
 - The default values for this configuration can be found under `wild_visual_navigation/wild_visual_navigation_ros/config/wild_visual_navigation`.
 
 
 <img align="right" width="40" height="40" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/dino.png" alt="Dino"> 
 
 ## Development
+<details>
+<summary>Here we provide additional details if you want to contribute.</summary>
 
 ### Install pre-commit
 ```shell
@@ -219,7 +226,7 @@ pytest
 ### Open-Sourcing
 Generating headers
 ```shell
-pip3 install adheader
+pip3 install addheader
 
 # If your are using zsh otherwise remove \
 addheader wild_visual_navigation -t header.txt -p \*.py --sep-len 79 --comment='#' --sep=' '
@@ -238,6 +245,7 @@ rosrun procman_ros sheriff -l ~/git/wild_visual_navigation/wild_visual_navigatio
 ```shell
 rosbag_play --tf --sem --flp --wvn  mission/*.bag
 ```
+</details>
 
 <img align="right" width="40" height="40" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/dino.png" alt="Dino"> 
 
diff --git a/assets/images/sim_demo.jpg b/assets/images/sim_demo.jpg
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literal 0
HcmV?d00001

diff --git a/docker/Dockerfile b/docker/Dockerfile
index a82fb53b..9ad0847c 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -123,4 +123,6 @@ RUN mkdir -p /root/catkin_ws/src \
 
 RUN echo "source /root/catkin_ws/devel/setup.bash" >> ~/.bashrc
 RUN echo "source /root/env/bin/activate" >> ~/.bashrc
+
+COPY docker/first_run.sh first_run.sh
 ENV DEBIAN_FRONTEND=dialog
\ No newline at end of file
diff --git a/docker/README.md b/docker/README.md
index 1ed75a0d..82fd8739 100644
--- a/docker/README.md
+++ b/docker/README.md
@@ -13,60 +13,64 @@ To build the container:
 docker compose -f docker-compose-gui-nvidia.yaml build
 ```
 
-## Run the container
+## Run the simulation environment in the container
 
-To run the container (terminal-based):
+Start the container in detached mode:
 
 ```sh
 docker compose -f docker-compose-gui-nvidia.yaml up -d
 ```
 
-To launch bash on the container:
+Launch a first bash terminal in the container to start the simulation environment:
 
 ```sh
-docker compose exec wvn bash
+docker compose -f docker-compose-gui-nvidia.yaml exec wvn_nvidia /bin/bash
 ```
 
-## Stop the container
+Once in the container, run the `first_run` script to install the WVN package that is mounted automatically when the container starts:
+```sh
+source first_run.sh
+```
 
-To stop the container:
+Launch the Gazebo simulation environment and an RViz window as the main interface.
 
 ```sh
-docker compose -f docker-compose.yaml stop
+roslaunch wild_visual_navigation_jackal sim.launch 
 ```
+If this doesn't open any window, pelase check the troubleshooting section below.
 
-## Running Wild Visual Navigation
 
-You can either run the following commands in 4 terminals that initialize a bash terminal in the container, or you can use VS Code with the Docker extension to instantiate terminal in the container directly.
-
-### Launch Jackal sim
+Open a new terminal to launch WVN in the container
 
 ```sh
-roslaunch wild_visual_navigation_jackal sim.launch 
+docker compose -f docker-compose-gui-nvidia.yaml exec wvn_nvidia /bin/bash
 ```
 
-### Launch WVN
-
+And then, once in the container:
 ```sh
 roslaunch wild_visual_navigation_jackal wild_visual_navigation.launch
 ```
 
-### Launch Teleop node
+You can drive the Jackal robot by sending 2D Nav goals using RViz. We implemented a simple [carrot follower](../wild_visual_navigation_jackal/scripts/carrot_follower.py) that was tuned for the demo (not actually used in real experiments)
 
-```sh
-roslaunch wild_visual_navigation_jackal teleop.launch 
-```
 
-### Launch RViz window
+## Stop the example
+
+Kill all the terminal as usual (Ctrl + D). Then, stop the container using:
 
 ```sh
-roslaunch wild_visual_navigation_jackal view.launch 
+docker compose -f docker-compose-gui-nvidia.yaml down
 ```
 
 
 ## Troubleshooting
 
-If the GUI doesn't work, you might need to allow the X Server to connect before running the container:
+If the GUI doesn't work, you'll see an error like:
+
+> No protocol specified
+> qt.qpa.xcb: could not connect to display :1
+
+To fix it, you might need to allow the X Server to connect before running the container:
 
 ```sh
 xhost +Local:*
diff --git a/docker/docker-compose-gui-nvidia.yaml b/docker/docker-compose-gui-nvidia.yaml
index 4d2fadc8..16708ac1 100644
--- a/docker/docker-compose-gui-nvidia.yaml
+++ b/docker/docker-compose-gui-nvidia.yaml
@@ -1,4 +1,3 @@
-version: "3.9"
 services:
   wvn_nvidia:
     extends:
diff --git a/docker/docker-compose-gui.yaml b/docker/docker-compose-gui.yaml
index 0cc35c5f..ee1f9c4c 100644
--- a/docker/docker-compose-gui.yaml
+++ b/docker/docker-compose-gui.yaml
@@ -1,4 +1,3 @@
-version: "3.9"
 services:
   wvn:
     extends:
diff --git a/docker/docker-compose-nvidia.yaml b/docker/docker-compose-nvidia.yaml
index 1bd55c43..83c1b00f 100644
--- a/docker/docker-compose-nvidia.yaml
+++ b/docker/docker-compose-nvidia.yaml
@@ -1,4 +1,3 @@
-version: "3.9"
 services:
   wvn_nvidia:
     extends:
diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml
index 56f48cc2..9a9adbb5 100644
--- a/docker/docker-compose.yaml
+++ b/docker/docker-compose.yaml
@@ -1,4 +1,3 @@
-version: "3.9"
 services:
   wvn:
     build:
@@ -13,10 +12,4 @@ services:
       - ../../self_supervised_segmentation:/root/catkin_ws/src/self_supervised_segmentation
     environment:
       - ROS_IP=127.0.0.1
-    command: "/bin/bash"
-    # command: >
-    #   /bin/bash -c "pip3 install -e /root/catkin_ws/src/wild_visual_navigation
-    #           && pip3 install -e /root/catkin_ws/src/self_supervised_segmentation
-    #           && cd /root/catkin_ws && catkin build
-    #           && cd /root
-    #           && source /root/catkin_ws/devel/setup.bash"
\ No newline at end of file
+    command: "/bin/bash"
\ No newline at end of file
diff --git a/docker/first_run.sh b/docker/first_run.sh
new file mode 100755
index 00000000..eeba87d8
--- /dev/null
+++ b/docker/first_run.sh
@@ -0,0 +1,15 @@
+#!/bin/bash
+
+echo "pip3 install -e /root/catkin_ws/src/self_supervised_segmentation ..."
+pip3 install -e /root/catkin_ws/src/self_supervised_segmentation > /dev/null
+
+echo "pip3 install -e /root/catkin_ws/src/wild_visual_navigation ..."
+pip3 install -e /root/catkin_ws/src/wild_visual_navigation > /dev/null
+
+echo "catkin build ..."
+catkin build > /dev/null
+
+echo "source devel/setup.bash ..."
+source devel/setup.bash > /dev/null
+
+echo "Setup ready!"
\ No newline at end of file
diff --git a/wild_visual_navigation_jackal/README.md b/wild_visual_navigation_jackal/README.md
index 50a45ad5..3c2c6d75 100644
--- a/wild_visual_navigation_jackal/README.md
+++ b/wild_visual_navigation_jackal/README.md
@@ -15,9 +15,7 @@ sudo apt-get update
 sudo apt update 
 sudo apt install -y \
         ros-noetic-jackal-simulator \
-        ros-noetic-jackal-desktop \
-        ros-noetic-teleop-twist-keyboard \
-        ros-noetic-rqt-robot-steering \
+        ros-noetic-jackal-desktop
 ```
 
 ## Running
diff --git a/wild_visual_navigation_jackal/launch/sim.launch b/wild_visual_navigation_jackal/launch/sim.launch
index 9e95fcfc..98926656 100644
--- a/wild_visual_navigation_jackal/launch/sim.launch
+++ b/wild_visual_navigation_jackal/launch/sim.launch
@@ -34,4 +34,7 @@
   <node name="gazebo_world_publisher" pkg="wild_visual_navigation_jackal" type="gazebo_world_publisher.py"/>
   <node name="jackal_carrot_follower" pkg="wild_visual_navigation_jackal" type="carrot_follower.py"/>
 
+  <!-- RViz window -->
+  <include file="$(find wild_visual_navigation_jackal)/launch/view.launch"/>
+
 </launch>
diff --git a/wild_visual_navigation_jackal/launch/teleop.launch b/wild_visual_navigation_jackal/launch/teleop.launch
deleted file mode 100644
index 3ffe082f..00000000
--- a/wild_visual_navigation_jackal/launch/teleop.launch
+++ /dev/null
@@ -1,7 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<launch>
-    
-  <!--- Keyboard teleop -->
-  <node name="jackal_teleop" pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" output="screen"/>
-
-</launch>
\ No newline at end of file
diff --git a/wild_visual_navigation_jackal/scripts/carrot_follower.py b/wild_visual_navigation_jackal/scripts/carrot_follower.py
index 91e23b27..fabaa82b 100644
--- a/wild_visual_navigation_jackal/scripts/carrot_follower.py
+++ b/wild_visual_navigation_jackal/scripts/carrot_follower.py
@@ -23,7 +23,7 @@
 MAX_LINEAR_VEL = 0.5
 MAX_ANGULAR_VEL = 0.7
 GAIN_LINEAR = 1.0
-GAIN_ANGULAR = 1.0
+GAIN_ANGULAR = 1.5
 DIST_THR = 0.1  # 10 cms
 
 
diff --git a/wild_visual_navigation_jackal/scripts/gazebo_world_publisher.py b/wild_visual_navigation_jackal/scripts/gazebo_world_publisher.py
index 00038861..570d53a8 100644
--- a/wild_visual_navigation_jackal/scripts/gazebo_world_publisher.py
+++ b/wild_visual_navigation_jackal/scripts/gazebo_world_publisher.py
@@ -20,6 +20,9 @@
 import tf.transformations as tr
 
 
+last_stamp = None
+
+
 def msg_to_se3(msg):
     """Conversion from geometric ROS messages into SE(3)
     Based on Jarvis Schultz's: https://answers.ros.org/question/332407/transformstamped-to-transformation-matrix-python/
@@ -54,7 +57,11 @@ def msg_to_se3(msg):
 
 
 def gazebo_callback(msg):
+    global last_stamp
     stamp = rospy.Time.now()
+    if stamp == last_stamp:
+        return
+
     T_world_base = msg_to_se3(msg.pose[1])  # this is the base_link pose in world frame (from gazebo)
     T_base_world = np.linalg.inv(T_world_base)
 
@@ -74,10 +81,12 @@ def gazebo_callback(msg):
     br.sendTransform(t)
 
     pub.publish(marker)
+    last_stamp = stamp
 
 
 if __name__ == "__main__":
     rospy.init_node("gazebo_world_publisher")
+    last_stamp = rospy.Time.now()
 
     # Default variables
     rospack = rospkg.RosPack()

From f445d026562e72c61362ad6ae3450b682c0359de Mon Sep 17 00:00:00 2001
From: Matias Mattamala <matias@robots.ox.ac.uk>
Date: Wed, 10 Apr 2024 20:32:20 +0100
Subject: [PATCH 5/6] Minor comment to reference tree asset

---
 wild_visual_navigation_jackal/README.md | 12 +++---------
 1 file changed, 3 insertions(+), 9 deletions(-)

diff --git a/wild_visual_navigation_jackal/README.md b/wild_visual_navigation_jackal/README.md
index 3c2c6d75..e6eb34c6 100644
--- a/wild_visual_navigation_jackal/README.md
+++ b/wild_visual_navigation_jackal/README.md
@@ -4,7 +4,6 @@ Simulation environment to test Wild Visual Navigation (WVN). We use a modified C
 
 ## Requirements
 
-
 ```sh
 wget https://packages.clearpathrobotics.com/public.key -O - | sudo apt-key add -
 sudo sh -c 'echo "deb https://packages.clearpathrobotics.com/stable/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/clearpath-latest.list'
@@ -24,14 +23,9 @@ sudo apt install -y \
 roslaunch wild_visual_navigation_jackal sim.launch
 ```
 
-```sh
-roslaunch wild_visual_navigation_jackal teleop.launch
-```
-
-```sh
-roslaunch wild_visual_navigation_jackal view.launch
-```
-
 ```sh
 roslaunch wild_visual_navigation_jackal wild_visual_navigation.launch
 ```
+
+## License
+The tree assets is by `samuelabyan`, obtained from [TurboSquid](https://www.turbosquid.com/3d-models/free-3ds-model-tree/905801)
\ No newline at end of file

From 51bd8483339b21eed64b86e54465232e4385c077 Mon Sep 17 00:00:00 2001
From: Matias Mattamala <matias@robots.ox.ac.uk>
Date: Wed, 10 Apr 2024 23:25:28 +0100
Subject: [PATCH 6/6] Updating READMEs for release

---
 README.md        | 290 +++++++++++++++++++++++++++--------------------
 docker/README.md |  43 +++++--
 2 files changed, 196 insertions(+), 137 deletions(-)

diff --git a/README.md b/README.md
index 0b92c94e..410d9e64 100644
--- a/README.md
+++ b/README.md
@@ -5,11 +5,12 @@
   <br>
 </h1>
 <p align="center">
-  <a href="#installation">Installation</a> •
-  <a href="#overview">Overview</a> •
-  <a href="#experiments">Experiments</a> •
-  <a href="#development">Development</a> •
-  <a href="#citation">Citation</a>
+  <a href="#features">Features</a> •
+  <a href="#citing-this-work">Citing</a> •
+  <a href="#quick-start">Quick Start</a> •
+  <a href="#setup">Setup</a> •
+  <a href="#demos">Demos</a>  •
+  <a href="#development">Development</a>
 </p>
 
 
@@ -24,17 +25,82 @@
 ![Overview](./assets/drawings/header.jpg)
 
 
+This package implements the Wild Visual Navigation (WVN) system presented in Frey & Mattamala et al. ["Fast Traversability Estimation for Wild Visual Navigation"](https://www.roboticsproceedings.org/rss19/p054.html) (2023) and later extended in Mattamala & Frey et al. ["Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision"]() (2024). It implements a visual, self-supervised traversability estimation system for mobile robots, trained online after a few minutes of human demonstrations in the field.
+
+
 <img align="right" width="40" height="40" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/dino.png" alt="Dino"> 
 
-## Setup
+## Features
+- Implementation of the full WVN system in pure Python
+- Quick start demos for online training in simulation, as well as scripts for inference using pre-trained models
+- Robot integration packages for ANYmal and Jackal robots using ROS 1
+- Integration into [`elevation_mapping_cupy`](https://github.com/leggedrobotics/elevation_mapping_cupy/tree/main)
+
+
+
+<img align="right" width="40" height="40" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/dino.png" alt="Dino"> 
 
-### Quick simulation demo
-We prepared a quick-start simulation with a Jackal robot using Docker. Please check the instructions [here](docker/README.md)
+## Citing this work
+```bibtex
+@INPROCEEDINGS{frey23fast, 
+  AUTHOR    = {Jonas Frey AND Matias Mattamala AND Nived Chebrolu AND Cesar Cadena AND Maurice Fallon AND Marco Hutter}, 
+  TITLE     = {{Fast Traversability Estimation for Wild Visual Navigation}}, 
+  BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
+  YEAR      = {2023}, 
+  ADDRESS   = {Daegu, Republic of Korea}, 
+  MONTH     = {July}, 
+  DOI       = {10.15607/RSS.2023.XIX.054} 
+} 
+```
+
+If you are also building up on the STEGO integration or using the pre-trained models for comparison, please cite:
+```bibtex
+@INPROCEEDINGS{mattamala24wild, 
+  AUTHOR    = {Jonas Frey AND Matias Mattamala AND Libera Piotr AND Nived Chebrolu AND Cesar Cadena AND Georg Martius AND Marco Hutter AND Maurice Fallon}, 
+  TITLE     = {{Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision}}, 
+  BOOKTITLE = {under review for Autonomous Robots}, 
+  YEAR      = {2024}
+} 
+```
+
+If you are using the `elevation_mapping_cupy` integration:
+```bibtex
+@INPROCEEDINGS{erni23mem,
+  AUTHOR={Erni, Gian and Frey, Jonas and Miki, Takahiro and Mattamala, Matias and Hutter, Marco},
+  TITLE={{MEM: Multi-Modal Elevation Mapping for Robotics and Learning}}, 
+  BOOKTITLE={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
+  YEAR={2023},
+  PAGES={11011-11018},
+  DOI={10.1109/IROS55552.2023.10342108}
+}
+```
+
+<img align="right" width="40" height="40" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/dino.png" alt="Dino"> 
+
+## Quick start
+We prepared a quick-start demo using a simulated Jackal robot. The demo runs on Docker, so no system dependencies are required. Please check the full instructions [here](docker/README.md)
 
 ![Overview](./assets/images/sim_demo.jpg)
 
+
+<img align="right" width="40" height="40" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/dino.png" alt="Dino"> 
+
+## Setup
+We recommend following the aforementioned [Docker instructions](docker/README.md) as well as inspecting the [Dockerfile](docker/Dockerfile) for a clean, system-independent setup.
+
+Otherwise, the next steps provide specific instructions to setup WVN on different systems.
+
+### Requirements
+The next steps assume you have the following hardware & software setup.
+- ROS 1 Noetic
+- CUDA-enabled GPU
+- CUDA drivers (we use 12.0)
+
 ### Minimal setup
-Clone the WVN and our STEGO reimplementation.
+These are the minimum requirements to use the WVN scripts (no robot integration).
+
+#### Installation
+First clone the WVN and our STEGO reimplementation.
 ```shell
 mkdir ~/git && cd ~/git 
 git clone git@github.com:leggedrobotics/wild_visual_navigation.git
@@ -55,78 +121,14 @@ pip3 install -e ./wild_visual_navigation
 pip3 install -e ./self_supervised_segmentation
 ```
 
-<img align="right" width="40" height="40" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/dino.png" alt="Dino"> 
+#### Execution
+Please refer to the [Demos](#inference-of-pre-trained-model) section below.
 
-## Overview
-
-### Repository Structure
-```
-📦wild_visual_navigation  
- ┣ 📂assets
-     ┣ 📂demo_data                            # Example images
-        ┣ 🖼 example_images.png
-        ┗ ....
-     ┗ 📂checkpoints                          # Pre-trained model checkpoints
-        ┣ 📜 mountain_bike_trail_v2.pt
-        ┗ ....
- ┣ 📂docker                                   # Quick start docker container
- ┣ 📂results   
- ┣ 📂test   
- ┣ 📂wild_visual_navigation                   # Core implementation of WVN
- ┣ 📂wild_visual_navigation_anymal            # ROS1 ANYmal helper package 
- ┣ 📂wild_visual_navigation_jackal            # ROS1 Jackal simulation example
- ┣ 📂wild_visual_navigation_msgs              # ROS1 message definitions
- ┣ 📂wild_visual_navigation_ros               # ROS1 nodes for running WVN 
-    ┗ 📂scripts                               
-       ┗ 📜 wvn_feature_extractor_node.py     # Main process for feature extraction and inference
-       ┗ 📜 wvn_learning_node.py              # Main process that generates supervision signals and the online training loop
- ┗ 📜 quick_start.py                          # Inferencing demo_data from pre-trained checkpoints
-```
-### Features
-- quick_start script for inference using pre-trained models (can be used as an easy baseline)
-- ROS1 integration for online deployment
-- Jackal Gazebo simulation demo integration 
-- Docker container for easy installation
-- Integration into elevation_mapping_cupy
-
-
-<img align="right" width="40" height="40" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/dino.png" alt="Dino"> 
-
-## Demos
-
-### Inference of pre-trained model
-
-Script to inference traversability of images within input folder (`assets/demo_data/*.png`), given a pre-trained model checkpoint (`assets/checkpoints/model_name.pt`). The script stores the result in the provided output folder (`results/demo_data/*.png`).
-```python
-python3 quick_start.py
-
-# python3 quick_start.py --help for more CLI information
-# usage: quick_start.py  [-h] [--model_name MODEL_NAME] [--input_image_folder INPUT_IMAGE_FOLDER]
-#        [--output_folder_name OUTPUT_FOLDER_NAME] [--network_input_image_height NETWORK_INPUT_IMAGE_HEIGHT] 
-#        [--network_input_image_width NETWORK_INPUT_IMAGE_WIDTH] [--segmentation_type {slic,grid,random,stego}]
-#        [--feature_type {dino,dinov2,stego}] [--dino_patch_size {8,16}] [--dino_backbone {vit_small}]
-#        [--slic_num_components SLIC_NUM_COMPONENTS] [--compute_confidence] [--no-compute_confidence]
-#        [--prediction_per_pixel] [--no-prediction_per_pixel]
-```
-
-### Online adaptation [Simulation]
-We prepared a Docker image to run a simulation with a Jackal robot, check the instructions [here](docker/README.md).
-
-### Online adaptation [Rosbag]
-#### Download rosbags:
-To quickly test out online training and adaption we provide some example rosbags ([GDrive](https://drive.google.com/drive/folders/1Rf2TRPT6auFxOpnV9-ZfVMjmsvdsrSD3?usp=sharing)), collected with our ANYmal D robot.
-
-#### Example Result:
-<div align="center">
-
-| MPI Outdoor | MPI Indoor | Bahnhofstrasse | Bike Trail |
-|----------------|------------|-------------|---------------------|
-| <img align="center" width="120" height="120" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/mpi_outdoor_trav.png" alt="MPI Outdoor">                |     <img align="center" width="120" height="120" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/mpi_indoor_trav.png" alt="MPI Indoor">        |   <img align="center" width="120" height="120" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/bahnhofstrasse_trav.png" alt="Bahnhofstrasse">           |        <img align="center" width="120" height="120" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/mountain_bike_trail_trav.png" alt="Mountain Bike">              |
-| <img align="center" width="120" height="120" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/demo_data/mpi_outdoor_raw.png" alt="MPI Outdoor">                |     <img align="center" width="120" height="120" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/demo_data/mpi_indoor_raw.png" alt="MPI Indoor">        |   <img align="center" width="120" height="120" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/demo_data/bahnhofstrasse_raw.png" alt="Bahnhofstrasse">           |        <img align="center" width="120" height="120" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/demo_data/mountain_bike_trail_raw.png" alt="Mountain Bike">              |
 
-</div>
+### ROS setup
+The following steps are required for a full installation, including the deployment tools. This enables the appropriate use of the ANYmal rosbags, enabling the robot model visualization and other deployment tools.
 
-#### ROS Setup:
+#### Installation
 ```shell
 # Create new catkin workspace
 source /opt/ros/noetic/setup.bash
@@ -155,6 +157,7 @@ source /opt/ros/noetic/setup.bash
 source ~/catkin_ws/devel/setup.bash
 ```
 
+#### Execution
 After successfully building the ROS workspace, you can run the entire pipeline by either using the launch file or by running the nodes individually.
 Open multiple terminals and run the following commands:
 
@@ -173,7 +176,7 @@ roslaunch anymal_d_simple_description load.launch
 robag play --clock path_to_mission/*.bag
 ```
 
-- RVIZ:
+- RViz:
 ```shell
 roslaunch wild_visual_navigation_ros view.launch
 ```
@@ -186,27 +189,101 @@ python wild_visual_navigation_ros/scripts/wvn_feature_extractor_node.py
 python wild_visual_navigation_ros/scripts/wvn_learning_node.py
 ```
 
-- The general configuration files can be found under: `wild_visual_navigation/cfg/experiment_params.py`
+- The general configuration files can be found under: [`wild_visual_navigation/cfg/experiment_params.py`](wild_visual_navigation/cfg/experiment_params.py)
 - This configuration is used in the `offline-model-training` and in the `online-ros` mode.
-- When running the `online-ros` mode, additional configurations for the individual nodes are defined in `wild_visual_navigation/cfg/ros_params.py`.
+- When running the `online-ros` mode, additional configurations for the individual nodes are defined in [`wild_visual_navigation/cfg/ros_params.py`](wild_visual_navigation/cfg/ros_params.py).
 - These configuration file is filled based on the ROS parameter server during runtime.
-- The default values for this configuration can be found under `wild_visual_navigation/wild_visual_navigation_ros/config/wild_visual_navigation`.
+- The default values for this configuration can be found under [`wild_visual_navigation/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml`](wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml).
+
+
+<img align="right" width="40" height="40" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/dino.png" alt="Dino"> 
+
+## Demos
+
+### Inference of pre-trained model
+We provide the [`python3 quick_start.py`](quick_start.py) script to inference traversability from images within the input folder ([`assets/demo_data/*.png`](assets/demo_data)), given a pre-trained model checkpoint (`assets/checkpoints/model_name.pt`, you can obtain them from [Google Drive](https://drive.google.com/drive/folders/1v18a95u_s8s0870o3UZ8T-9xizsIZwSp?usp=share_link)). 
+The script stores the result in the provided output folder (`results/demo_data/*.png`).
+
+```python
+python3 quick_start.py
+
+# python3 quick_start.py --help for more CLI information
+# usage: quick_start.py  [-h] [--model_name MODEL_NAME] [--input_image_folder INPUT_IMAGE_FOLDER]
+#        [--output_folder_name OUTPUT_FOLDER_NAME] [--network_input_image_height NETWORK_INPUT_IMAGE_HEIGHT] 
+#        [--network_input_image_width NETWORK_INPUT_IMAGE_WIDTH] [--segmentation_type {slic,grid,random,stego}]
+#        [--feature_type {dino,dinov2,stego}] [--dino_patch_size {8,16}] [--dino_backbone {vit_small}]
+#        [--slic_num_components SLIC_NUM_COMPONENTS] [--compute_confidence] [--no-compute_confidence]
+#        [--prediction_per_pixel] [--no-prediction_per_pixel]
+```
+
+### Online adaptation from rosbags
+
+To quickly test out the online training and adaption we provide some example rosbags ([GDrive](https://drive.google.com/drive/folders/1Rf2TRPT6auFxOpnV9-ZfVMjmsvdsrSD3?usp=sharing)), collected with our ANYmal D robot. These can be tested using the [ROS instructions](#execution)
+
+Here we provide some examples for the different sequences:
+<div align="center">
+
+| MPI Outdoor | MPI Indoor | Bahnhofstrasse | Bike Trail |
+|----------------|------------|-------------|---------------------|
+| <img align="center" width="120" height="120" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/mpi_outdoor_trav.png" alt="MPI Outdoor">                |     <img align="center" width="120" height="120" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/mpi_indoor_trav.png" alt="MPI Indoor">        |   <img align="center" width="120" height="120" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/bahnhofstrasse_trav.png" alt="Bahnhofstrasse">           |        <img align="center" width="120" height="120" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/mountain_bike_trail_trav.png" alt="Mountain Bike">              |
+| <img align="center" width="120" height="120" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/demo_data/mpi_outdoor_raw.png" alt="MPI Outdoor">                |     <img align="center" width="120" height="120" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/demo_data/mpi_indoor_raw.png" alt="MPI Indoor">        |   <img align="center" width="120" height="120" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/demo_data/bahnhofstrasse_raw.png" alt="Bahnhofstrasse">           |        <img align="center" width="120" height="120" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/demo_data/mountain_bike_trail_raw.png" alt="Mountain Bike">              |
+
+</div>
 
 
 <img align="right" width="40" height="40" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/dino.png" alt="Dino"> 
 
 ## Development
+Lastly, we provide some general guidelines for development. These could be useful to test WVN with your own robot platform.
+
+### Repository structure
+The WVN repo is structured in different folders, which we explain in the following figure:
+
+```sh
+📦wild_visual_navigation  
+ ┣ 📂assets
+     ┣ 📂demo_data                            # Example images
+        ┣ 🖼 example_images.png
+        ┗ ....
+     ┗ 📂checkpoints                          # Pre-trained model checkpoints (must be downloaded from Google Drive)
+        ┣ 📜 mountain_bike_trail_v2.pt
+        ┗ ....
+ ┣ 📂docker                                   # Quick start docker container
+ ┣ 📂results   
+ ┣ 📂test   
+ ┣ 📂wild_visual_navigation                   # Core, ROS-independent implementation of WVN
+ ┣ 📂wild_visual_navigation_anymal            # ROS1 ANYmal helper package 
+ ┣ 📂wild_visual_navigation_jackal            # ROS1 Jackal simulation example
+ ┣ 📂wild_visual_navigation_msgs              # ROS1 message definitions
+ ┣ 📂wild_visual_navigation_ros               # ROS1 nodes for running WVN 
+    ┗ 📂scripts                               
+       ┗ 📜 wvn_feature_extractor_node.py     # Main process for feature extraction and inference
+       ┗ 📜 wvn_learning_node.py              # Main process that generates supervision signals and the online training loop
+ ┗ 📜 quick_start.py                          # Inference demo from pre-trained checkpoints
+```
+
+### Adapting WVN for your own robot
+We recommend making a new ROS package to implement the overlays to run WVN with your own robot platform. We suggest inspecting the [wild_visual_navigation_jackal](wild_visual_navigation_jackal) as a reference.
+
+In a nutshell, you need to configure:
+
+- [wild_visual_navigation_jackal/config/wild_visual_navigation/camera.yaml](wild_visual_navigation_jackal/config/wild_visual_navigation/camera.yaml): This specifies the main parameters of the cameras available in your robot. Particularly if you plan to use them for training and inference, or just inference. You can also specify a weight that controls the time allocation of the camera scheduler.
+- [wild_visual_navigation_jackal/config/wild_visual_navigation/jackal.yaml](wild_visual_navigation_jackal/config/wild_visual_navigation/jackal.yaml): This specifies the WVN parameters, as well as the robot input signals and frames. We recommend changing the frames accordingly, but implement a _converter_ node for the input signals (robot velocity and human command velocity, see below).
+- [wild_visual_navigation_jackal/scripts/jackal_state_converter_node.py](wild_visual_navigation_jackal/scripts/jackal_state_converter_node.py): This script implements a node that re-maps the velocity estimates and velocity commands using custom WVN messages. We adopted this approach to avoid the installation of custom robot messages on the GPU computer where we ran WVN, and instead running the converter on the robot computer to obtain the signals we required.
+- [wild_visual_navigation_jackal/launch/wild_visual_navigation.launch](wild_visual_navigation_jackal/launch/wild_visual_navigation.launch): A launchfile that loads the custom parameters of the package as well as launches the WVN nodes.
+
+### Further notes
 <details>
 <summary>Here we provide additional details if you want to contribute.</summary>
 
-### Install pre-commit
+#### Install pre-commit
 ```shell
 pip3 install pre-commit
 cd wild_visual_navigation && python3 -m pre_commit install
 cd wild_visual_navigation && python3 -m pre_commit run
 ```
 
-### Code formatting
+#### Code formatting
 ```shell
 # for formatting
 pip install black
@@ -217,13 +294,13 @@ flake8 .
 ```
 Code format is checked on push.
 
-### Testing
+#### Testing
 Introduction to [pytest](https://github.com/pluralsight/intro-to-pytest).
 ```shell
 pytest
 ```
 
-### Open-Sourcing
+#### Open-sourcing
 Generating headers
 ```shell
 pip3 install addheader
@@ -237,7 +314,7 @@ addheader wild_visual_navigation_ros -t header.txt -p \*CMakeLists.txt --sep-len
 addheader wild_visual_navigation_anymal -t header.txt -p \*.py -p \*CMakeLists.txt --sep-len 79 --comment='#' --sep=' '
 ```
 
-### Releasing ANYmal data
+#### Releasing ANYmal data
 ```shell
 rosrun procman_ros sheriff -l ~/git/wild_visual_navigation/wild_visual_navigation_anymal/config/procman/record_rosbags.pmd --start-roscore 
 ```
@@ -246,42 +323,3 @@ rosrun procman_ros sheriff -l ~/git/wild_visual_navigation/wild_visual_navigatio
 rosbag_play --tf --sem --flp --wvn  mission/*.bag
 ```
 </details>
-
-<img align="right" width="40" height="40" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/dino.png" alt="Dino"> 
-
-## Citation
-```
-@INPROCEEDINGS{frey23fast, 
-  AUTHOR    = {Jonas Frey AND Matias Mattamala AND Nived Chebrolu AND Cesar Cadena AND Maurice Fallon AND Marco Hutter}, 
-  TITLE     = {{Fast Traversability Estimation for Wild Visual Navigation}}, 
-  BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
-  YEAR      = {2023}, 
-  ADDRESS   = {Daegu, Republic of Korea}, 
-  MONTH     = {July}, 
-  DOI       = {10.15607/RSS.2023.XIX.054} 
-} 
-```
-
-If you are also building up on the STEGO integration or using the pre-trained models for comparison, please cite: 
-```
-@INPROCEEDINGS{mattamala24wild, 
-  AUTHOR    = {Jonas Frey AND Matias Mattamala AND Libera Piotr AND Nived Chebrolu AND Cesar Cadena AND Georg Martius AND Marco Hutter AND Maurice Fallon}, 
-  TITLE     = {{Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision}}, 
-  BOOKTITLE = {under review for Autonomous Robots}, 
-  YEAR      = {2024}
-} 
-```
-
-If you are using the elevation_mapping integration:
-```
-@INPROCEEDINGS{erni23mem,
-  AUTHOR={Erni, Gian and Frey, Jonas and Miki, Takahiro and Mattamala, Matias and Hutter, Marco},
-  TITLE={{MEM: Multi-Modal Elevation Mapping for Robotics and Learning}}, 
-  BOOKTITLE={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
-  YEAR={2023},
-  PAGES={11011-11018},
-  DOI={10.1109/IROS55552.2023.10342108}
-}
-```
-
-
diff --git a/docker/README.md b/docker/README.md
index 82fd8739..fad310a0 100644
--- a/docker/README.md
+++ b/docker/README.md
@@ -5,9 +5,28 @@ We provide an example package to demonstrate Wild Visual Navigation on a simulat
 This example should be self-contained and it should run on a Docker container. This was tested on Ubuntu machines, we do not expect the GUI to run on Windows or Mac computers (due to X11 support).
 
 
-## Build the image
 
-To build the container:
+## Preliminaries
+The instructions assume you have Docker installed. If you haven't used Docker before, please take a look at the excellent resources prepared by Tobit Flatscher in [docker-for-robotics](https://github.com/2b-t/docker-for-robotics), which this demo builds upon.
+
+# Get the required repositories
+First clone the WVN and our STEGO reimplementation.
+```shell
+mkdir ~/git && cd ~/git 
+git clone git@github.com:leggedrobotics/wild_visual_navigation.git
+git clone git@github.com:leggedrobotics/self_supervised_segmentation.git
+```
+
+Then, go to the `docker` folder in `wild_visual_navigation`
+
+```shell
+cd ~/git/wild_visual_navigation/docker
+```
+
+> Note: All the following commands must be executed in this folder
+
+## Build the image
+Build the Docker image running:
 
 ```sh
 docker compose -f docker-compose-gui-nvidia.yaml build
@@ -27,7 +46,8 @@ Launch a first bash terminal in the container to start the simulation environmen
 docker compose -f docker-compose-gui-nvidia.yaml exec wvn_nvidia /bin/bash
 ```
 
-Once in the container, run the `first_run` script to install the WVN package that is mounted automatically when the container starts:
+Once in the container, source the `first_run` script to install the WVN package that is mounted automatically when the container starts:
+
 ```sh
 source first_run.sh
 ```
@@ -37,42 +57,43 @@ Launch the Gazebo simulation environment and an RViz window as the main interfac
 ```sh
 roslaunch wild_visual_navigation_jackal sim.launch 
 ```
-If this doesn't open any window, pelase check the troubleshooting section below.
+If this doesn't open any window, please check the troubleshooting section below.
 
 
-Open a new terminal to launch WVN in the container
+Open a new terminal to launch WVN in the same container:
 
 ```sh
 docker compose -f docker-compose-gui-nvidia.yaml exec wvn_nvidia /bin/bash
 ```
 
-And then, once in the container:
+And then, once you are in the container:
 ```sh
 roslaunch wild_visual_navigation_jackal wild_visual_navigation.launch
 ```
 
-You can drive the Jackal robot by sending 2D Nav goals using RViz. We implemented a simple [carrot follower](../wild_visual_navigation_jackal/scripts/carrot_follower.py) that was tuned for the demo (not actually used in real experiments)
+Wait until the Rviz window show the simulation environment. Once it's ready, you can drive the Jackal robot by sending 2D Nav goals using RViz. We implemented a simple [carrot follower](../wild_visual_navigation_jackal/scripts/carrot_follower.py) that was tuned for the demo (not actually used in real experiments)
 
 
 ## Stop the example
 
-Kill all the terminal as usual (Ctrl + D). Then, stop the container using:
+Kill all the terminals as usual (Ctrl + D). Then, stop the container using:
 
 ```sh
 docker compose -f docker-compose-gui-nvidia.yaml down
 ```
 
-
 ## Troubleshooting
 
-If the GUI doesn't work, you'll see an error like:
+If RViz doesn't show up, you'll see an error like this in the terminal:
 
 > No protocol specified
 > qt.qpa.xcb: could not connect to display :1
 
-To fix it, you might need to allow the X Server to connect before running the container:
+To fix it, you might need to allow the X Server to connect before running the container. Stop everything (including the container) and then run:
 
 ```sh
 xhost +Local:*
 xhost
 ```
+
+Then restart the container and run the other commands. Now RViz should pop up.