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Commit 268c189a authored by Davis, Duane T's avatar 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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......@@ -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 namespace1)"/>
</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>
<!-- load mine-like objects into the scene based on argument values -->
<!-- Load 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 namespace1)" />
<!-- 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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