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one_robot.launch

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Nov 12th, 2019
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  1. <launch>
  2.     <arg name="model" default="$(env TURTLEBOT3_MODEL)" />
  3.     <!-- @ REQUIRED @ robot name (same as namespace) and spawn position -->
  4.     <arg name="robot_name" />
  5.     <arg name="x_pos" />
  6.     <arg name="y_pos" />
  7.     <arg name="z_pos" />
  8.  
  9.     <param name="tf_prefix" value="$(arg robot_name)" />
  10.  
  11.     <!-- tbot bringup -->
  12.     <include file="$(find foo_pkg)/launch/includes/turtlebot3_remote.launch">
  13.         <arg name="model" value="$(arg model)"/>
  14.         <arg name="multi_robot_name" value="$(arg robot_name)" />
  15.     </include>
  16.  
  17.     <!-- spawner -->
  18.     <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"
  19.          args="-urdf -model $(arg robot_name)
  20.          -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos)
  21.          -param robot_description"
  22.    />
  23.  
  24.     <!-- AMCL -->
  25.     <include file="$(find foo_pkg)/launch/includes/amcl_multirobot.launch" >
  26.         <arg name="robot_name" value="$(arg robot_name)" />
  27.         <arg name="x_pos" value="$(arg x_pos)" />
  28.         <arg name="y_pos" value="$(arg y_pos)" />
  29.     </include>
  30.  
  31.     <!-- move base -->
  32.     <include file="$(find foo_pkg)/launch/includes/move_base_multirobot.launch">
  33.         <arg name="robot_name" value="$(arg robot_name)" />
  34.         <arg name="model" value="$(arg model)" />
  35.     </include>
  36. </launch>
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