Update launch and ramps.dae

launch/test.launch

 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
   
-  <arg name="world_name"  default="empty"/>
+  <arg name="world_name"  default="empty"/> <!-- empty, willow, rooms, brl, brl_ext, ramps -->
   <arg name="world"       default="$(find iri_gazebo_worlds)/worlds/$(arg world_name).world"/>
   <arg name="description" default="true"/>
-  <arg name="rviz"        default="false"/>
+  <arg name="rviz"        default="true"/>
   <arg name="gui"         default="true"/>
 
   <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
@@ -26,11 +26,14 @@
 
   <group if="$(arg description)">
     <include file="$(find iri_gazebo_worlds)/launch/description.launch">
+      <arg name="ns"           value="world"/>
+      <arg name="parent_frame" value="/map"/>
+      <arg name="model_frame"  value="/world"/>
       <arg name="model_mesh"   value="$(arg world_name).dae"/>
     </include>
   </group>
 
-  <node name="rviz"
+  <node name="rviz_world"
         pkg="rviz"
         type="rviz"
         if="$(arg rviz)"

worlds/brl2.world

-<?xml version="1.0" ?>
-<sdf version="1.4">
-  <world name="brl_big">
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    
-    <!--
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-    -->
-
-    <model name="brl_big">
-      <static>true</static>
-      <link name="link">
-        <pose>0 0 0 0 0 0</pose>
-        <collision name="collision">
-          <geometry>
-            <mesh>
-              <uri>model://meshes/brl2.dae</uri>
-              <scale>1 1 1</scale>
-            </mesh>
-          </geometry>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <mesh>
-             <uri>model://meshes/brl2.dae</uri>
-              <scale>1 1 1</scale>
-            </mesh>
-          </geometry>
-        </visual>
-      </link>
-    </model>
-    
-<gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose frame=''>10.0958 -9.41664 10.969 0 0.667643 2.2282</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
-
-  </world>
-</sdf>
\ No newline at end of file