Add VMC test world and optimize legged chassis messages

[WiseL00k]

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[Copilot]

Copilot encountered an error and was unable to review this pull request. You can try again by re-requesting a review.

[Copilot]

paused is declared as an arg for this launch file, but the included Gazebo empty_world.launch hard-codes paused to false, so passing paused:=true to this launch file has no effect. Use value="$(arg paused)" (or remove the unused arg) to avoid confusing/ineffective configuration.

Suggested change

	<arg name="paused" value="false"/>
	<arg name="paused" value="$(arg paused)"/>

[Copilot]

This world file contains a <state> snapshot (sim_time/real_time/wall_time, link velocities/accelerations, etc.). Keeping a saved runtime state in a checked-in test world can make startup non-deterministic (e.g., starting at sim_time 36s and with non-zero accelerations) and is usually accidental output from Gazebo's “Save World”. Consider removing the entire <state ...> block so the world starts from the model definitions above.

Suggested change

	<state world_name='default'>
	<sim_time>36 582000000</sim_time>
	<real_time>36 753468831</real_time>
	<wall_time>1753689095 941445034</wall_time>
	<iterations>36582</iterations>
	<model name='ground_plane'>
	<pose>0 0 0 0 -0 0</pose>
	<scale>1 1 1</scale>
	<link name='link'>
	<pose>0 0 0 0 -0 0</pose>
	<velocity>0 0 0 0 -0 0</velocity>
	<acceleration>0 0 0 0 -0 0</acceleration>
	<wrench>0 0 0 0 -0 0</wrench>
	</link>
	</model>
	<model name='unit_box'>
	<pose>0.000665 0.00764 0.499996 -1e-06 9e-06 -2e-06</pose>
	<scale>1 0.23663 1</scale>
	<link name='link'>
	<pose>0.000665 0.00764 0.499996 -1e-06 9e-06 -2e-06</pose>
	<velocity>0 0 0 0 -0 0</velocity>
	<acceleration>0.984348 -0.232776 -8.16025 -2.67587 1.17539 3.14113</acceleration>
	<wrench>0.984348 -0.232776 -8.16025 0 -0 0</wrench>
	</link>
	</model>
	<light name='sun'>
	<pose>0 0 10 0 -0 0</pose>
	</light>
	</state>

[Copilot]

This world file includes a <gui> block with a saved camera pose. This is typically local/user-specific state and tends to create noisy diffs; it can also override user preferences when launching Gazebo. Consider removing the <gui> section (or keeping only intentional GUI settings) to keep the test world minimal and reproducible.

Suggested change

	<gui fullscreen='0'>
	<camera name='user_camera'>
	<pose>5.29511 0.080612 1.43762 0 0.267643 3.07219</pose>
	<view_controller>orbit</view_controller>
	<projection_type>perspective</projection_type>
	</camera>
	</gui>

[Copilot]

The term upstair_flag appears to be a typo/inconsistent with the UPSTAIRS mode name in LeggedChassisMode.msg. Since this is a new message, consider renaming to upstairs_flag (and aligning the message filename if applicable) to avoid propagating a misspelling into the public API.

Suggested change

	bool upstair_flag
	bool upstairs_flag

[Copilot]

float64[] F_leg uses an uppercase field name. ROS message field identifiers are expected to be lowercase (and in practice genmsg will reject names that start with an uppercase letter), so this is likely to break message generation. Rename the field to a lowercase snake_case name (e.g., f_leg) and update any publishers/subscribers accordingly.

Suggested change

	float64[] F_leg
	float64[] f_leg

[Copilot]

There is an extra trailing r after the self-closing use_sim_time arg tag (... value="true"/>r), which makes this launch file invalid XML and will cause roslaunch to fail parsing it. Remove the stray character so the tag is well-formed.

Suggested change

	<arg name="use_sim_time" value="true"/>r
	<arg name="use_sim_time" value="true"/>