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CS4313
cs4313_project
Commits
268c189a
Commit
268c189a
authored
3 years ago
by
Davis, Duane T
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Update minefield.launch to make it obvious how to add additional robots
parent
f35b9cdc
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minesearch_project/launch/minefield.launch
+13
-9
13 additions, 9 deletions
minesearch_project/launch/minefield.launch
with
13 additions
and
9 deletions
minesearch_project/launch/minefield.launch
+
13
−
9
View file @
268c189a
...
...
@@ -13,11 +13,13 @@
<arg
name=
"loadMine5"
default=
"1"
/>
<arg
name=
"x5"
default=
"2"
/>
<arg
name=
"y5"
default=
"40"
/>
<arg
name=
"namespace"
default=
"robot1"
/>
<!-- Add namespace args for additional robots -->
<arg
name=
"namespace1"
default=
"robot1"
/>
<include
file=
"$(find minesearch_project)/launch/loadMine.xml"
/>
<!-- Copy this include with a different namespace arg for additional robots -->
<include
file=
"$(find pioneer_launch)/launch/upload_pioneer3at.launch"
>
<arg
name=
"namespace"
value=
"$(arg namespace)"
/>
<arg
name=
"namespace"
value=
"$(arg namespace
1
)"
/>
</include>
<!-- <include file="$(find cs4313_worlds)/launch/hokuyoGmapper.launch" /> -->
...
...
@@ -27,7 +29,7 @@
<arg
name=
"world_name"
value=
"$(find minesearch_project)/worlds/minefield.world"
/>
</include>
<!--
l
oad mine-like objects into the scene based on argument values -->
<!--
L
oad mine-like objects into the scene based on argument values -->
<node
name=
"spawn_mine1"
pkg=
"gazebo_ros"
type=
"spawn_model"
args=
"-x $(arg x1) -y $(arg y1) -urdf -param mine1 -model mine1"
respawn=
"false"
output=
"screen"
/>
...
...
@@ -50,15 +52,17 @@
respawn=
"false"
output=
"screen"
/>
</group>
<!-- launch the circle-finder node to detect and publish circular objects -->
<!-- Launch the circle-finder node to detect and publish circular objects -->
<!-- Copy this node with different name & namespace for additional robots -->
<node
name=
"robot1CircleFinder"
pkg=
"minesearch_project"
type=
"circleFinder.py"
args=
"-n $(arg namespace)"
/>
args=
"-n $(arg namespace
1
)"
/>
<!-- push robot_description to factory and spawn robot in gazebo -->
<node
name=
"spawn_pioneer"
pkg=
"gazebo_ros"
type=
"spawn_model"
args=
"-z 0.0 -urdf -param $(arg namespace)/p3at -model $(arg namespace)/p3at"
<!-- Push robot_description to factory and spawn robot in gazebo -->
<!-- Copy this node with a different name, namespace, & xyzY values for additional robots -->
<node
name=
"spawn_pioneer1"
pkg=
"gazebo_ros"
type=
"spawn_model"
args=
"-x 0.0 -y 0.0 -z 0.0 -Y 0.0 -urdf -param $(arg namespace1)/p3at -model $(arg namespace1)/p3at"
respawn=
"false"
output=
"screen"
>
<remap
from=
"robot_description"
to=
"
robot1
/p3at"
/>
<remap
from=
"robot_description"
to=
"
$(arg namespace1)
/p3at"
/>
</node>
</launch>
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