FieldRobotEvent · Darkproduct · Mar 4, 2025 · Mar 3, 2025 · Mar 3, 2025 · Mar 4, 2025
diff --git a/config/fre21_task_1.yaml b/config/fre21_task_1.yaml
diff --git a/config/fre21_task_1_fast.yaml b/config/fre21_task_1_fast.yaml
diff --git a/config/fre21_task_1_mini.yaml b/config/fre21_task_1_mini.yaml
diff --git a/config/fre21_task_2.yaml b/config/fre21_task_2.yaml
diff --git a/config/fre21_task_2_fast.yaml b/config/fre21_task_2_fast.yaml
diff --git a/config/fre21_task_2_mini.yaml b/config/fre21_task_2_mini.yaml
diff --git a/config/fre21_task_3.yaml b/config/fre21_task_3.yaml
diff --git a/config/fre21_task_3_fast.yaml b/config/fre21_task_3_fast.yaml
diff --git a/config/fre21_task_3_mini.yaml b/config/fre21_task_3_mini.yaml
diff --git a/config/fre21_task_4.yaml b/config/fre21_task_4.yaml
diff --git a/config/fre21_task_4_fast.yaml b/config/fre21_task_4_fast.yaml
diff --git a/config/fre21_task_4_mini.yaml b/config/fre21_task_4_mini.yaml
diff --git a/config/fre22_task_mapping.yaml b/config/fre22_task_mapping.yaml
diff --git a/config/fre22_task_mapping_fast.yaml b/config/fre22_task_mapping_fast.yaml
diff --git a/config/fre22_task_mapping_mini.yaml b/config/fre22_task_mapping_mini.yaml
diff --git a/config/fre22_task_navigation.yaml b/config/fre22_task_navigation.yaml
diff --git a/config/fre22_task_navigation_fast.yaml b/config/fre22_task_navigation_fast.yaml
diff --git a/config/fre22_task_navigation_mini.yaml b/config/fre22_task_navigation_mini.yaml
diff --git a/models/beer/materials/textures/beer.png b/models/beer/materials/textures/beer.png
diff --git a/models/beer/model.config b/models/beer/model.config
diff --git a/models/beer/model.sdf b/models/beer/model.sdf
diff --git a/models/coke_can/materials/textures/coke_can.png b/models/coke_can/materials/textures/coke_can.png
diff --git a/models/coke_can/meshes/coke_can.dae b/models/coke_can/meshes/coke_can.dae
diff --git a/models/coke_can/model.config b/models/coke_can/model.config
diff --git a/models/coke_can/model.sdf b/models/coke_can/model.sdf
diff --git a/models/location_marker_a/model.sdf b/models/location_marker_a/model.sdf
diff --git a/models/location_marker_b/model.sdf b/models/location_marker_b/model.sdf
diff --git a/models/start/model.sdf b/models/start/model.sdf
diff --git a/package.xml b/package.xml
@@ -22,8 +22,8 @@
   <depend>python3-yaml</depend>
 
   <depend>ros2launch</depend>
-  <depend>ros-gz</depend>
-  <depend>ros-gz-sim</depend>
+  <depend>ros_gz_sim</depend>
+  <depend>ros_gz_bridge</depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/virtual_maize_field/generate_world.py b/virtual_maize_field/generate_world.py
diff --git a/virtual_maize_field/world_generator/field_2d_generator.py b/virtual_maize_field/world_generator/field_2d_generator.py
@@ -298,7 +298,7 @@ def center_plants(self) -> None:
 
         for i in range(len(self.rows)):
             self.rows[i] -= np.array([x_min, y_min])
-            self.rows[i] -= np.array([x_max, y_max]) / 2
+            self.rows[i] -= np.array([x_max - x_min, y_max - y_min]) / 2
 
     # The function calculates the placements of the weed plants and
     def place_objects(self) -> None:

diff --git a/virtual_maize_field/world_generator/world_description.py b/virtual_maize_field/world_generator/world_description.py