multi_robot_exploration/world.launch at master · RobustFieldAutonomyLab/multi_robot_exploration · GitHub

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
<launch>
  <arg name="world_file"  default="$(env TURTLEBOT_GAZEBO_WORLD_FILE)"/>

  <arg name="base"      value="$(optenv TURTLEBOT_BASE kobuki)"/> <!-- create, roomba -->
  <arg name="battery"   value="$(optenv TURTLEBOT_BATTERY /proc/acpi/battery/BAT0)"/>  <!-- /proc/acpi/battery/BAT0 -->
  <arg name="gui" default="true"/>
  <arg name="stacks"    value="$(optenv TURTLEBOT_STACKS hexagons)"/>  <!-- circles, hexagons -->
  <arg name="3d_sensor" value="$(optenv TURTLEBOT_3D_SENSOR kinect)"/>  <!-- kinect, asus_xtion_pro -->

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="use_sim_time" value="true"/>
    <arg name="debug" value="false"/>
    <arg name="gui" value="$(arg gui)" />
    <arg name="world_name" value="$(arg world_file)"/>
  </include>
    <group ns="robot1">
    <param name="tf_prefix" value="robot1_tf" />
    <include file="$(find turtlebot_gazebo)/launch/includes/$(arg base).launch.xml">
    <arg name="base" value="$(arg base)"/>
    <arg name="stacks" value="$(arg stacks)"/>
    <arg name="3d_sensor" value="$(arg 3d_sensor)"/>
    <arg name="robot_name"  value="robot1" />
    <arg name="x" value="1.0"/>
    <arg name="y" value="1.0"/>
    <arg name="z" value="0.0"/>
     </include>
    </group>

 <group ns="robot2">
    <param name="tf_prefix" value="robot2_tf" />
    <include file="$(find turtlebot_gazebo)/launch/includes/$(arg base).launch.xml">
    <arg name="base" value="$(arg base)"/>
    <arg name="stacks" value="$(arg stacks)"/>
    <arg name="3d_sensor" value="$(arg 3d_sensor)"/>
    <arg name="robot_name"  value="robot2" />
    <arg name="x" value="-1.0"/>
    <arg name="y" value="1.0"/>
    <arg name="z" value="0.0"/>
     </include>
    </group>

  <!-- Fake laser -->
  <node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager" args="manager"/>
  <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan"
        args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager">
    <param name="scan_height" value="10"/>
    <param name="output_frame_id" value="/camera_depth_frame"/>
    <param name="range_min" value="0.45"/>
    <remap from="image" to="/camera/depth/image_raw"/>
    <remap from="scan" to="/scan"/>
  </node>
</launch>