Compile multi_bot_nav_02 (available in earlier section) and run it in "simple" mode, while pointing at world that uses the textured mesh we just created.
# Terminal 1
# echo $ROS_DISTRO
# galactic
#
# source /opt/ros/galactic/setup.bash
#
$ cd ~/SnowCron/ros_projects/harsh
$ colcon build --packages-select multi_bot_nav_02
$ source install/setup.bash
# To run a single robot without SLAM or Map (robot name in code is set to ""):
$ ros2 launch multi_bot_nav_02 multi_simulation_launch.py world:=src/worlds/perfect_world.sdf
map:=src/maps/map.yaml keepout_mask:=src/maps/keepout_mask.yaml
rviz_config_file:=src/multi_bot_nav_02/rviz/simple_single.rviz mode:=simple
Note that I used perfect_world.sdf, a new world that refers to a newly created textured mesh.