Created
July 6, 2018 12:04
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<launch> | |
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/> | |
<arg name="first_tb3" default="tb3_0"/> | |
<arg name="second_tb3" default="tb3_1"/> | |
<arg name="third_tb3" default="tb3_2"/> | |
<arg name="first_tb3_x_pos" default="-2.0"/> | |
<arg name="first_tb3_y_pos" default=" 1.0"/> | |
<arg name="first_tb3_z_pos" default=" 0.0"/> | |
<arg name="first_tb3_yaw" default=" 0.0"/> | |
<arg name="second_tb3_x_pos" default="-2.0"/> | |
<arg name="second_tb3_y_pos" default=" 0.0"/> | |
<arg name="second_tb3_z_pos" default=" 0.0"/> | |
<arg name="second_tb3_yaw" default=" 0.0"/> | |
<arg name="third_tb3_x_pos" default="-2.0"/> | |
<arg name="third_tb3_y_pos" default="-1.0"/> | |
<arg name="third_tb3_z_pos" default=" 0.0"/> | |
<arg name="third_tb3_yaw" default=" 0.0"/> | |
<include file="$(find gazebo_ros)/launch/empty_world.launch"> | |
<arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_world.world"/> | |
<arg name="paused" value="false"/> | |
<arg name="use_sim_time" value="true"/> | |
<arg name="gui" value="true"/> | |
<arg name="headless" value="false"/> | |
<arg name="debug" value="false"/> | |
</include> | |
<group ns = "$(arg first_tb3)"> | |
<param name="robot_description" command="$(find xacro)/xacro.py $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).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.py $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).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.py $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).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> | |
</launch> |
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