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multirobot.launch

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Nov 12th, 2019
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  1. <launch>
  2.     <arg name="robot_1" value="robot_1" />
  3.     <arg name="robot_2" value="robot_2" />
  4.     <arg name="gazebo_gui" default="false" /> <!-- ACTIVATE GAZEBO GUI -->
  5.  
  6.     <!-- GAZEBO -->
  7.     <include file="$(find foo_pkg)/launch/includes/main_gazebo.launch">
  8.         <arg name="world_name" value="$(find foo_pkg)/worlds/turtlebot3_house.world"/>
  9.         <arg name="paused" value="false"/>
  10.         <arg name="use_sim_time" value="true"/>
  11.         <arg name="gui" value="$(arg gazebo_gui)"/>
  12.         <arg name="headless" value="false"/>
  13.         <arg name="debug" value="false"/>
  14.     </include>
  15.  
  16.     <!-- map server -->
  17.     <node pkg="map_server" type="map_server" name="map_loader" args="$(find foo_pkg)/maps/mymap.yaml" />
  18.  
  19.     <!--robot 1-->
  20.     <group ns="$(arg robot_1)">
  21.         <include file="$(find foo_pkg)/launch/one_robot.launch">
  22.             <arg name="robot_name" value="$(arg robot_1)" />
  23.             <arg name="x_pos" value="4" />
  24.             <arg name="y_pos" value="1" />
  25.             <arg name="z_pos" value="0" />
  26.         </include>
  27.     </group>
  28.  
  29.     <!--robot 2-->
  30.     <!--<group ns="$(arg robot_2)">-->
  31.     <!--    <include file="$(find foo_pkg)/launch/one_robot.launch">-->
  32.     <!--        <arg name="robot_name" value="$(arg robot_2)" />-->
  33.     <!--        <arg name="x_pos" value="-3" />-->
  34.     <!--        <arg name="y_pos" value="1" />-->
  35.     <!--        <arg name="z_pos" value="0" />-->
  36.     <!--    </include>-->
  37.     <!--</group>-->
  38.  
  39.     <!-- RVIZ -->
  40.     <node name="rviz" pkg="rviz" type="rviz" args="-d $(find foo_pkg)/rviz/multirobot_config.rviz"/>
  41. </launch>
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