-
Notifications
You must be signed in to change notification settings - Fork 11
/
Copy pathmulti_robots.launch
119 lines (92 loc) · 5.87 KB
/
multi_robots.launch
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
<?xml version="1.0"?>
<launch>
<arg name="first_tb3" default="tb3_0"/>
<arg name="second_tb3" default="tb3_1"/>
<arg name="third_tb3" default="tb3_2"/>
<arg name="fourth_tb3" default="tb3_3"/>
<arg name="fifth_tb3" default="tb3_4"/>
<arg name="sixth_tb3" default="tb3_5"/>
<arg name="first_tb3_x_pos" default="0.5"/>
<arg name="first_tb3_y_pos" default="-1"/>
<arg name="first_tb3_z_pos" default=" 0"/>
<arg name="first_tb3_yaw" default=" 0"/>
<arg name="second_tb3_x_pos" default=" 0.5"/>
<arg name="second_tb3_y_pos" default="0"/>
<arg name="second_tb3_z_pos" default=" 0"/>
<arg name="second_tb3_yaw" default=" 0"/>
<arg name="third_tb3_x_pos" default=" 0.5"/>
<arg name="third_tb3_y_pos" default=" 1"/>
<arg name="third_tb3_z_pos" default=" 0.0"/>
<arg name="third_tb3_yaw" default=" 0.0"/>
<arg name="fourth_tb3_x_pos" default=" -0.5"/>
<arg name="fourth_tb3_y_pos" default=" -1"/>
<arg name="fourth_tb3_z_pos" default=" 0.0"/>
<arg name="fourth_tb3_yaw" default=" 0.0"/>
<arg name="fifth_tb3_x_pos" default=" -0.5"/>
<arg name="fifth_tb3_y_pos" default=" 0"/>
<arg name="fifth_tb3_z_pos" default=" 0.0"/>
<arg name="fifth_tb3_yaw" default=" 0.0"/>
<arg name="sixth_tb3_x_pos" default=" -0.5"/>
<arg name="sixth_tb3_y_pos" default=" 1"/>
<arg name="sixth_tb3_z_pos" default=" 0.0"/>
<arg name="sixth_tb3_yaw" default=" 0.0"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find robots_gazebo)/worlds/cityy.world"/>
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="true"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
</include>
<group ns = "$(arg first_tb3)">
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find robots_description)/urdf/robot_burger.urdf.xacro" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
<param name="publish_frequency" type="double" value="50.0" />
<param name="tf_prefix" value="$(arg first_tb3)" />
</node>
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg first_tb3) -x $(arg first_tb3_x_pos) -y $(arg first_tb3_y_pos) -z $(arg first_tb3_z_pos) -Y $(arg first_tb3_yaw) -param robot_description" />
</group>
<group ns = "$(arg second_tb3)">
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find robots_description)/urdf/robot_waffle.urdf.xacro" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
<param name="publish_frequency" type="double" value="50.0" />
<param name="tf_prefix" value="$(arg second_tb3)" />
</node>
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg second_tb3) -x $(arg second_tb3_x_pos) -y $(arg second_tb3_y_pos) -z $(arg second_tb3_z_pos) -Y $(arg second_tb3_yaw) -param robot_description" />
</group>
<group ns = "$(arg third_tb3)">
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find robots_description)/urdf/robot_burger.urdf.xacro" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
<param name="publish_frequency" type="double" value="50.0" />
<param name="tf_prefix" value="$(arg third_tb3)" />
</node>
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg third_tb3) -x $(arg third_tb3_x_pos) -y $(arg third_tb3_y_pos) -z $(arg third_tb3_z_pos) -Y $(arg third_tb3_yaw) -param robot_description" />
</group>
<group ns = "$(arg fourth_tb3)">
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find robots_description)/urdf/robot_burger.urdf.xacro" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
<param name="publish_frequency" type="double" value="50.0" />
<param name="tf_prefix" value="$(arg fourth_tb3)" />
</node>
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg fourth_tb3) -x $(arg fourth_tb3_x_pos) -y $(arg fourth_tb3_y_pos) -z $(arg fourth_tb3_z_pos) -Y $(arg fourth_tb3_yaw) -param robot_description" />
</group>
<group ns = "$(arg fifth_tb3)">
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find robots_description)/urdf/robot_waffle.urdf.xacro" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
<param name="publish_frequency" type="double" value="50.0" />
<param name="tf_prefix" value="$(arg fifth_tb3)" />
</node>
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg fifth_tb3) -x $(arg fifth_tb3_x_pos) -y $(arg fifth_tb3_y_pos) -z $(arg fifth_tb3_z_pos) -Y $(arg fifth_tb3_yaw) -param robot_description" />
</group>
<group ns = "$(arg sixth_tb3)">
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find robots_description)/urdf/robot_burger.urdf.xacro" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
<param name="publish_frequency" type="double" value="50.0" />
<param name="tf_prefix" value="$(arg sixth_tb3)" />
</node>
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg sixth_tb3) -x $(arg sixth_tb3_x_pos) -y $(arg sixth_tb3_y_pos) -z $(arg sixth_tb3_z_pos) -Y $(arg sixth_tb3_yaw) -param robot_description" />
</group>
<!-- RViz -->
<arg name="rviz" default="true"/>
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="true" respawn="false" output="screen" args="-d $(find robots_gazebo)/rviz/multi_robots_slam.rviz" />
</launch>