Fix launchfiles for different worlds

[SiviDomaEdu]

Robot spawn coordinates are hardcoded in the launch file, which works for the default world, but when setting an other world via argument, robots might be spawned outside of the rooms.

We need to somehow achieve correct robot-spawning logic. Maybe create different launchfiles for different worlds, or add a case structure to select the correct initial coordinates for each world

I've tested, these coordinates work for house.sdf:

    robot_1 = {'name': 'robot_1',
               'x': -1.8,
               'y': -1.5,
               'yaw': 1.5708}
    robot_1['quaternion'] = quaternion_from_euler(0.0, 0.0, robot_1['yaw'])

    robot_2 = {'name': 'robot_2',
               'x': 2.4,
               'y': 1.7,
               'yaw': 2.3562}

[SiviDomaEdu]

Maybe the best option would be, to have a yaml configurational file that contains a set of "safe" coordinates where a robot can be instantiated. This way this configuration would be clean and totally decoupled from the launchfile.

Something like this:

worlds:
  office_world:
    safe_positions:
      - [1.5, 2.0, 0.0]    # [x, y, yaw]
      - [-1.5, 0.5, 1.57]
      - [0.0, -2.0, 3.14]
  warehouse_world:
    safe_positions:
      - [5.0, -2.0, 3.14]
      - [8.0, 4.0, 0.0]
      - [0.0, 0.0, 0.0]
      - [-2.0, -5.0, 1.57]

Of course these are totally made up world names and coordinates...

Then in the python launchfile we can read this yaml file and spawn the desired number of robots in safe coordinates for any world.

For example:

import yaml
import os
from ament_index_python.packages import get_package_share_directory

def generate_robot_launch_descriptions():
    # 1. Alap adatok (ezt kaphatod LaunchConfiguration-ből is)
    world_name = "office_world" 
    robot_names = ["robot_1", "robot_2"] # Ez jöhet argumentumból
    
    # 2. YAML beolvasása
    config_path = os.path.join(
        get_package_share_directory('multi_robot_navigation'),
        'config',
        'robot_locations.yaml'
    )
    
    with open(config_path, 'r') as f:
        config = yaml.safe_load(f)
    
    # Kinyerjük a pontokat az adott világhoz
    safe_points = config['worlds'].get(world_name, {}).get('safe_positions', [])
    
    if len(robot_names) > len(safe_points):
        # Ide tehetsz egy loggert, hogy "Több robot van, mint safe pont!"
        pass

    # 3. Robotok indítása a pontok alapján
    launch_entities = []
    for i, name in enumerate(robot_names):
        if i < len(safe_points):
            pos = safe_points[i]
            # Itt hívod meg a saját spawn/launch logikádat
            # spawn_robot(name, x=pos[0], y=pos[1], yaw=pos[2])
            print(f"Launching {name} at x: {pos[0]}, y: {pos[1]}")
            
    return launch_entities

This above code was entirely generated with Gemini, I only post this for inspiration, please make sure that it makes sense in our project, and implement it accordingly.