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ROS Marker publisher:  

Step 1: Transform Yaml file into Python dict notation.

Alternative 1, online tool:
A useful tool which will shows the result in Python notation of any YAML input is:  
https://yaml-online-parser.appspot.com/  
Make sure to remove excess single quotes (') and new lines.  

Alternative 2, use a python :

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# Allow for ROS source choice, paste this it in the user configuration file (.bashrc)
read -p "Do you want to source the ros_ws workspace in this new terminal window? (y/n): " input_choice

if [ "$input_choice" = "y" ]
then
  echo "ROS sourced!"
  # Source the distro specific setup file
  source /opt/ros/kinetic/setup.bash
  # Change ROS editor to nano
  export EDITOR='nano -w'

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#include <iostream>

float remap(float fromValue, float fromMin, float fromMax, float toMin,  float toMax)
    {
        float fromAbs  =  fromValue - fromMin;
        float fromMaxAbs = fromMax - fromMin;      
       
        float normal = fromAbs / fromMaxAbs;
 
        float toMaxAbs = toMax - toMin;

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#include "least_squares.h"
#include <math.h>

/****************************************************************************
   Least squares fit of circle to set of points.
   by Dave Eberly ([email protected] or [email protected])
   ftp://ftp.cs.unc.edu/pub/users/eberly/magic/circfit.c
  ---------------------------------------------------------------------------
   Input:  (x_i,y_i), 1 <= i <= N, where N >= 3 and not all points
           are collinear

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    <!-- By default, start RViz -->
    <arg name="rviz" default="true" />
    
    <!-- Run Rviz and load the default config to see the state of the move_group node -->
        <include file="$(find package)/launch/moveit_rviz.launch">
        <include if="$(arg rviz)" file="$(find package)/launch/moveit_rviz.launch">
            <arg name="config" value="true"/>
            <arg name="debug" value="$(arg debug)"/>
        </include>

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0. First check what is the output of "echo $GAZEBO_MODEL_PATH"

What is the output of "echo $GAZEBO_MODEL_PATH"?

1. Run from command line to grant access to models once:
(Tip: cd to the ros package with roscd, then use pwd command to get the full path)

export GAZEBO_MODEL_PATH=~/simulation_ws/src/logistic_demo_sim/models:$GAZEBO_MODEL_PATH

2. To permanently enable Gazebo to locate gazebo model files (SDF's):

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<?xml version="1.0"?>
<robot name="cham_bot">

 <link name="z_axis">
    <visual>
        <geometry>
            <box size="0.2 0.2 6.5"/>

        </geometry>
        <origin rpy="0 0 0" xyz="0.25 0 7"/>

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#!/usr/bin/python
#################################################################
##\file
#
# \note
# Copyright (c) 2010 \n
# Fraunhofer Institute for Manufacturing Engineering
# and Automation (IPA) \n\n
#
#################################################################

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def one_hot_encode(labels):
    """
    One hot encode a list of sample labels. Return a one-hot encoded vector for each label.
    : x: List of sample Labels
    : return: Numpy array of one-hot encoded labels
    """
    # TODO: Implement Function
    depth = 10 
    one_hot = np.eye(depth)[labels]
    

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def normalize_grayscale(image_data):
    """
    Normalize the image data with Min-Max scaling to a range of [0.1, 0.9]
    :param image_data: The image data to be normalized
    :return: Normalized image data
    """
    # Implement Min-Max scaling for grayscale image data
    a = 0.1
    b = 0.9
    grayscale_min = 0