oomwoo_clean/nav: use the world-aligned living_room map

nav.launch.py defaulted to oomwoo_gazebo/map/living_room.yaml (origin
-1.33,-2.76), which does NOT cover the sim's default spawn (-2.0,-0.5) --
the robot came up outside the map, so the global costmap logged "Invalid
frame ID map" / "out of map bounds" and navigation never worked. Default
to the world-aligned oomwoo_sim_support/maps/living_room.yaml (origin
-2.75,-2.75) that the coverage regression uses; it covers the spawn.
Verified headless: robot localizes at spawn, in bounds, and a
NavigateToPose goal plans and SUCCEEDS.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

Author: kaiaai

src/oomwoo_clean/launch/nav.launch.py

@@ -76,8 +76,11 @@ def generate_launch_description() -> LaunchDescription:
     true_robot_radius = 0.1745
     coverage_target = 0.90
 
+    # the WORLD-ALIGNED living_room map (origin -2.75, covers the spawn); the
+    # oomwoo_gazebo copy has a different origin that excludes the -2,-0.5 spawn
     default_map = os.path.join(
-        get_package_share_directory('oomwoo_gazebo'), 'map', 'living_room.yaml')
+        get_package_share_directory('oomwoo_sim_support'),
+        'maps', 'living_room.yaml')
     x0 = LaunchConfiguration('x_pose')
     y0 = LaunchConfiguration('y_pose')
     yaw0 = LaunchConfiguration('yaw')