run script Fixes 2

scripts/run_ardupilot_sim.sh

@@ -113,29 +113,48 @@ fi
 # =============================================================================
 WORLD_ARG="${1:-runway}"
 
-# All worlds must come from ardupilot_gazebo (they have the ArduPilot plugin)
+# Map friendly names to actual world files
 case "$WORLD_ARG" in
-    runway|iris)
+    runway|iris|default)
         WORLD="${HOME}/ardupilot_gazebo/worlds/iris_runway.sdf"
         ;;
+    warehouse)
+        WORLD="${HOME}/ardupilot_gazebo/worlds/iris_warehouse.sdf"
+        ;;
+    gimbal)
+        WORLD="${HOME}/ardupilot_gazebo/worlds/gimbal.sdf"
+        ;;
     zephyr|plane)
         WORLD="${HOME}/ardupilot_gazebo/worlds/zephyr_runway.sdf"
         ;;
+    parachute)
+        WORLD="${HOME}/ardupilot_gazebo/worlds/zephyr_parachute.sdf"
+        ;;
     *)
-        # Try as full path
+        # Try as full path or filename
         if [ -f "$WORLD_ARG" ]; then
             WORLD="$WORLD_ARG"
-        else
+        elif [ -f "${HOME}/ardupilot_gazebo/worlds/${WORLD_ARG}" ]; then
+            WORLD="${HOME}/ardupilot_gazebo/worlds/${WORLD_ARG}"
+        elif [ -f "${HOME}/ardupilot_gazebo/worlds/${WORLD_ARG}.sdf" ]; then
             WORLD="${HOME}/ardupilot_gazebo/worlds/${WORLD_ARG}.sdf"
+        else
+            WORLD=""
         fi
         ;;
 esac
 
-if [ ! -f "$WORLD" ]; then
-    echo "[ERROR] World file not found: $WORLD"
+if [ -z "$WORLD" ] || [ ! -f "$WORLD" ]; then
+    echo "[ERROR] World not found: $WORLD_ARG"
     echo ""
-    echo "Available worlds in ~/ardupilot_gazebo/worlds/:"
-    ls -1 ~/ardupilot_gazebo/worlds/*.sdf 2>/dev/null | xargs -n1 basename
+    echo "Available options:"
+    echo "  runway     - Iris drone on runway (default)"
+    echo "  warehouse  - Iris in warehouse"
+    echo "  gimbal     - Gimbal test"
+    echo "  zephyr     - Zephyr plane"
+    echo "  parachute  - Parachute test"
+    echo ""
+    echo "Or specify full path to .sdf file"
     exit 1
 fi