From 53f60b858072592c2b019384e611161cb4a845f4 Mon Sep 17 00:00:00 2001
From: Hyungyu Kim <kimhg@robotis.com>
Date: Tue, 18 Feb 2025 09:38:18 +0900
Subject: [PATCH] Add traffic right and adjust map brightness

---
 .../traffic_right/model.sdf                      |  2 +-
 .../worlds/turtlebot3_autorace_2020.world        | 16 ++++++++++------
 2 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.sdf
index dba7883..9023c1c 100644
--- a/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.sdf
+++ b/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.sdf
@@ -3,7 +3,7 @@
   <model name="traffic_right">
     <static>true</static>
     <link name="box">
-      <pose>1.08 -0.728 0.125 0 -0 -1.57</pose>
+      <pose>0 0 0 0 0 0</pose>
       <collision name="collision">
         <geometry>
           <box>
diff --git a/turtlebot3_gazebo/worlds/turtlebot3_autorace_2020.world b/turtlebot3_gazebo/worlds/turtlebot3_autorace_2020.world
index 009caa5..4e26397 100644
--- a/turtlebot3_gazebo/worlds/turtlebot3_autorace_2020.world
+++ b/turtlebot3_gazebo/worlds/turtlebot3_autorace_2020.world
@@ -2,7 +2,7 @@
 <sdf version='1.6'>
   <world name='default'>
     <scene>
-      <ambient>0 0 0 1</ambient>
+      <ambient>0.8 0.8 0.8 1</ambient>
       <shadows>0</shadows>
       <grid>0</grid>
       <background>0.7 0.7 0.7 1</background>
@@ -35,29 +35,33 @@
    
     <include>
       <uri>model://turtlebot3_autorace_2020/traffic_stop</uri>
-       <pose> -1.35 1.04 0.125 0 -0 -1.57</pose>
+      <pose> -1.35 1.04 0.125 0 -0 -1.57</pose>
     </include>    
 
     <include>
       <uri>model://turtlebot3_autorace_2020/traffic_pl_left</uri>
-       <pose>0.50 1.90 0.13 0 0 0</pose>
+      <pose>0.50 1.90 0.13 0 0 0</pose>
     </include>
 
     <include>
       <uri>model://turtlebot3_autorace_2020/traffic_construction</uri>
-       <pose> 1.0 0.04 0.125 0 -0 -1.57</pose>
+      <pose> 1.0 0.04 0.125 0 -0 -1.57</pose>
     </include>   
 
     <include>
       <uri>model://turtlebot3_autorace_2020/traffic_intersection</uri>
-       <pose> 1.95 -1.0 0.125 0 -0 0.0</pose>
+      <pose> 1.95 -1.0 0.125 0 -0 0.0</pose>
     </include>   
 
     <include>
       <uri>model://turtlebot3_autorace_2020/traffic_noentry</uri>
-       <pose> 0.95 -0.758 0.125 0 -0 0.0</pose>
+      <pose> 0.95 -0.758 0.125 0 -0 0.0</pose>
     </include>
 
+    <include>
+      <uri>model://turtlebot3_autorace_2020/traffic_right</uri>
+      <pose>1.08 -0.728 0.125 0 -0 -1.57</pose>
+    </include>
 <!--
     <include>
       <uri>model://turtlebot3_autorace_2020/checker</uri>