multiple_cars.launch

<?xml version="1.0"?>
<launch>
    <arg name="model" default="$(find prius_description)/urdf/prius.urdf" />
    <arg name="rvizconfig" default="$(find car_demo)/rviz/demo.rviz" />

    <arg name="x" default="3" />
    <arg name="y" default="-12" />
    <param name="robot_description" textfile="$(arg model)" />


    <!-- <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" /> -->
    <group ns="prius0">
        <param name="robot_description" textfile="$(arg model)" />
        <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="prius0" />
        </node>
        <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model prius0 -x 3 -y $(arg y) -z 0.5 -param robot_description" />
    </group>
    <group ns="prius1">
        <param name="robot_description" textfile="$(arg model)" />
        <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="prius1" />
        </node>
        <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model prius1 -x 9 -y $(arg y) -z 0.5 -param robot_description" />
    </group>
    <group ns="prius2">
        <param name="robot_description" textfile="$(arg model)" />
        <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="prius2" />
        </node>
        <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model prius2 -x 15 -y $(arg y) -z 0.5 -param robot_description" />
    </group>
    <group ns="prius3">
        <param name="robot_description" textfile="$(arg model)" />
        <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="prius3" />
        </node>
        <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model prius3 -x 21 -y $(arg y) -z 0.5 -param robot_description" />
    </group>
    <group ns="prius4">
        <param name="robot_description" textfile="$(arg model)" />
        <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="prius4" />
        </node>
        <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model prius4 -x 27 -y $(arg y) -z 0.5 -param robot_description" />
    </group>
    <group ns="prius5">
        <param name="robot_description" textfile="$(arg model)" />
        <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="prius5" />
        </node>
        <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model prius5 -x 33 -y $(arg y) -z 0.5 -param robot_description" />
    </group>
</launch>