Consolidated worlds into a single file (#298) (#305)

* Consolidated worlds into a single file

* Merge upstream

* Fixed stale compose file change

(cherry picked from commit 6155ac8)

Co-authored-by: Evan Palmer <evanp922@gmail.com>

Author: mergify[bot]

.docker/compose/nouveau-desktop.yaml

@@ -1,4 +1,3 @@
-version: "3"
 services:
   blue:
     image: ghcr.io/robotic-decision-making-lab/blue:jazzy-desktop

.docker/compose/nvidia-desktop.yaml

@@ -1,4 +1,3 @@
-version: "3"
 services:
   blue:
     image: ghcr.io/robotic-decision-making-lab/blue:jazzy-desktop-nvidia

blue_bringup/launch/bluerov2/bluerov2.launch.yaml

@@ -39,7 +39,7 @@ launch:
 
   - arg:
       name: gazebo_world_file
-      default: $(find-pkg-share blue_description)/gazebo/worlds/$(var model_name)_underwater.world
+      default: $(find-pkg-share blue_description)/gazebo/worlds/underwater.world
 
   - arg:
       name: mavros_file

blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml

@@ -39,7 +39,7 @@ launch:
 
   - arg:
       name: gazebo_world_file
-      default: $(find-pkg-share blue_description)/gazebo/worlds/$(var model_name)_underwater.world
+      default: $(find-pkg-share blue_description)/gazebo/worlds/underwater.world
 
   - arg:
       name: mavros_file

blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml

@@ -39,7 +39,7 @@ launch:
 
   - arg:
       name: gazebo_world_file
-      default: $(find-pkg-share blue_description)/gazebo/worlds/$(var model_name)_underwater.world
+      default: $(find-pkg-share blue_description)/gazebo/worlds/underwater.world
 
   - arg:
       name: mavros_file

blue_description/gazebo/worlds/bluerov2_heavy_reach_underwater.world

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <sdf version="1.6">
-  <world name="bluerov2_underwater">
+  <world name="underwater_world">
 
     <plugin
       filename="gz-sim-physics-system"
@@ -31,7 +31,6 @@
           <density>1</density>
         </density_change>
       </graded_buoyancy>
-      <enable>bluerov2</enable>
     </plugin>
 
     <include>