Restore robot pose & polygon to (5,5)

and add (5,5) to map->odom tf as it is the transform from world/map frame to the robot's initial pose

Author: adivardi

opennav_coverage_demo/launch/coverage_demo_launch.py

@@ -70,8 +70,8 @@ def generate_launch_description():
         launch_arguments={'namespace': '',
                           'robot_name': 'turtlebot3_waffle',
                           'robot_sdf': robot_sdf,
-                          'x_pose': str(0.0),
-                          'y_pose': str(0.0),
+                          'x_pose': str(5.0),
+                          'y_pose': str(5.0),
                           'z_pose': str(0.1),
                           'roll': str(0.0),
                           'pitch': str(0.0),
@@ -94,7 +94,7 @@ def generate_launch_description():
             package='tf2_ros',
             executable='static_transform_publisher',
             output='screen',
-            arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom'])
+            arguments=['5.0', '5.0', '0', '0', '0', '0', 'map', 'odom'])
 
     # start the demo task
     demo_cmd = Node(

opennav_coverage_demo/opennav_coverage_demo/demo_coverage.py

@@ -146,7 +146,7 @@ def main():
     navigator.startup()
 
     # Some example field
-    field = [[0.0, 0.0], [0.0, 15.0], [15.0, 15.0], [10.0, 0.0], [0.0, 0.0]]
+    field = [[5.0, 5.0], [5.0, 15.0], [15.0, 15.0], [10.0, 5.0], [5.0, 5.0]]
     navigator.navigateCoverage(field)
 
     i = 0