fire kill in unity works

launch/joy_control.launch.py

@@ -57,6 +57,7 @@ def generate_launch_description():
             output="both",
             parameters=[
                 ParameterFile(joy_params),
+                {"fire_ext_max_capacity": 100},
             ],
     )
 

launch/unity.launch.py

@@ -57,7 +57,9 @@ def generate_launch_description():
         namespace=LaunchConfiguration("namespace"),
         parameters=[
             {"use_sim_time": LaunchConfiguration("use_sim_time")},
-            {"crosshair_alpha": 1.0}
+            {"crosshair_alpha": 1.0},
+            {"sof_cos_sim": 0.999},
+            {"fe_distance": 5.0},
         ],
         remappings=[
             ("raw_image", "/sirius_bot/camera/image_view"),
@@ -81,7 +83,7 @@ def generate_launch_description():
 
     pkg_gen_location_on_mesh = FindPackageShare(package="").find("gen_locations_on_mesh")
 
-    mesh_path = PathJoinSubstitution([pkg_gen_location_on_mesh, "share", "scene_init.ply"])
+    mesh_path = PathJoinSubstitution([pkg_gen_location_on_mesh, "share", "sirius_scene_floor.ply"])
 
     cache_path = PathJoinSubstitution([pkg_gen_location_on_mesh, "share", "cache.pkl"])