Simplified addition of additional robots & mines

Also changed all of the names from "mine" to "ied"

minesearch_project/CMakeLists.txt → ied_search_project/CMakeLists.txt

 cmake_minimum_required(VERSION 2.8.3)
-project(minesearch_project)
+project(ied_search_project)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 # add_compile_options(-std=c++11)
@@ -159,7 +159,7 @@ include_directories(
 ## Mark executable scripts (Python etc.) for installation
 ## in contrast to setup.py, you can choose the destination
 install(PROGRAMS
-  src/minesearch_project/project_robot.py
+  src/ied_search_project/project_robot.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 

minesearch_project/launch/minefield.launch → ied_search_project/launch/ied_field.launch

 <?xml version="1.0"?>
 <launch>
+  <!-- IED location parameters -->
   <arg name="x1" default="36"/>
   <arg name="y1" default="39"/>
   <arg name="x2" default="66"/>
   <arg name="y2" default="26"/>
-  <arg name="loadMine3" default="1"/>
   <arg name="x3" default="75"/>
   <arg name="y3" default="7"/>
-  <arg name="loadMine4" default="1"/>
   <arg name="x4" default="31"/>
   <arg name="y4" default="10"/>
-  <arg name="loadMine5" default="1"/>
   <arg name="x5" default="2"/>
   <arg name="y5" default="40"/>
-  <!-- Add namespace args for additional robots -->
+  <!-- Add more x & y parameters for additional IEDs -->
+<!--  <arg name="x6" default="71"/>
+  <arg name="y6" default="48"/> -->
+
   <arg name="namespace1" default="robot1" />
+  <!-- Add namespace args for additional robots -->
+<!--  <arg name="namespace2" default="robot2" /> -->
 
-  <include file="$(find minesearch_project)/launch/loadMine.xml" />
-  <!-- Copy this include with a different namespace arg for additional robots -->
+  <include file="$(find ied_search_project)/launch/loadIED.xml" />
   <include file="$(find pioneer_launch)/launch/upload_pioneer3at.launch">
     <arg name="namespace" value="$(arg namespace1)"/>
   </include> 
-<!--  <include file="$(find cs4313_worlds)/launch/hokuyoGmapper.launch" /> -->
+  <!-- Add additional includes with different namespace args for additional robots -->
+<!--  <include file="$(find pioneer_launch)/launch/upload_pioneer3at.launch">
+    <arg name="namespace" value="$(arg namespace2)"/>
+  </include> -->
 
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="use_sim_time" value="true"/>
     <arg name="debug" value="false"/>
-    <arg name="world_name" value="$(find minesearch_project)/worlds/minefield.world"/>
+    <arg name="world_name" value="$(find ied_search_project)/worlds/ied_field.world"/>
   </include>
 
-  <!-- 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"
+  <!-- Load IED-like objects into the scene based on argument values -->
+  <node name="spawn_ied1" pkg="gazebo_ros" type="spawn_model" 
+        args="-x $(arg x1) -y $(arg y1) -urdf -param ied -model ied1"
+        respawn="false" output="screen" />
+  <node name="spawn_ied2" pkg="gazebo_ros" type="spawn_model"
+        args="-x $(arg x2) -y $(arg y2) -urdf -param ied -model ied2"
         respawn="false" output="screen" />
-  <node name="spawn_mine2" pkg="gazebo_ros" type="spawn_model"
-        args="-x $(arg x2) -y $(arg y2) -urdf -param mine2 -model mine2"
+  <node name="spawn_ied3" pkg="gazebo_ros" type="spawn_model"
+        args="-x $(arg x3) -y $(arg y3) -urdf -param ied -model ied3"
         respawn="false" output="screen" />
-  <group if="$(arg loadMine3)">
-    <node name="spawn_mine3" pkg="gazebo_ros" type="spawn_model"
-          args="-x $(arg x3) -y $(arg y3) -urdf -param mine2 -model mine3"
-          respawn="false" output="screen" />
-  </group>
-  <group if="$(arg loadMine4)">
-    <node name="spawn_mine4" pkg="gazebo_ros" type="spawn_model"
-          args="-x $(arg x4) -y $(arg y4) -urdf -param mine2 -model mine4"
-          respawn="false" output="screen" />
-  </group>  
-  <group if="$(arg loadMine5)">
-    <node name="spawn_mine5" pkg="gazebo_ros" type="spawn_model"
-          args="-x $(arg x5) -y $(arg y5) -urdf -param mine2 -model mine5"
-          respawn="false" output="screen" />
-  </group>  
+  <node name="spawn_ied4" pkg="gazebo_ros" type="spawn_model"
+        args="-x $(arg x4) -y $(arg y4) -urdf -param ied -model ied4"
+        respawn="false" output="screen" />
+  <node name="spawn_ied5" pkg="gazebo_ros" type="spawn_model"
+        args="-x $(arg x5) -y $(arg y5) -urdf -param ied -model ied5"
+        respawn="false" output="screen" />
+  <!-- Add more spawn_model nodes for additional IEDs -->
+<!--  <node name="spawn_ied6" pkg="gazebo_ros" type="spawn_model"
+        args="-x $(arg x6) -y $(arg y6) -urdf -param ied -model ied6"
+        respawn="false" output="screen" /> -->
 
   <!-- 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" 
+  <node name="robot1CircleFinder" pkg="ied_search_project" type="circleFinder.py" 
         args="-n $(arg namespace1)" />  
+  <!-- Launch additional nodes with different name & namespaces for additional robots -->
+<!--  <node name="robot2CircleFinder" pkg="ied_search_project" type="circleFinder.py" 
+        args="-n $(arg namespace2)" />  -->
 
   <!-- 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 $(arg namespace1)/p3at"
         respawn="false" output="screen">
     <remap from="robot_description" to="$(arg namespace1)/p3at"/>
   </node>
+  <!-- Launch additional nodes with different names, namespaces, & xyzY values for additional robots -->
+<!--  <node name="spawn_pioneer2" pkg="gazebo_ros" type="spawn_model"
+        args="-x 80.0 -y 50.0 -z 0.0 -Y 3.14 -urdf -param $(arg namespace2)/p3at -model $(arg namespace2)/p3at"
+        respawn="false" output="screen">
+    <remap from="robot_description" to="$(arg namespace2)/p3at"/>
+  </node> -->
 
 </launch>

ied_search_project/launch/loadIED.xml

+<launch>
+  <!-- send the IED model to parameter server -->
+  <param name="ied" command="$(find xacro)/xacro $(find ied_search_project)/models/ied.xacro" />
+</launch>
+

minesearch_project/models/mine.xacro → ied_search_project/models/ied.xacro

 <?xml version="1.0"?>
-<robot name="mine" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<robot name="ied" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <gazebo reference="mineLink">
+  <gazebo reference="iedLink">
     <material>Gazebo/Blue</material>
   </gazebo>
 
@@ -10,10 +10,10 @@
 
   <joint name="fixed" type="floating">
     <parent link="world"/>
-    <child link="mineLink"/>
+    <child link="iedLink"/>
   </joint>
 
-  <link name="mineLink">
+  <link name="iedLink">
     <collision>
       <origin xyz="0 0 0.3" rpy="0 0 0"/>
       <geometry>

minesearch_project/package.xml → ied_search_project/package.xml

 <?xml version="1.0"?>
 <package format="2">
-  <name>minesearch_project</name>
+  <name>ied_search_project</name>
   <version>0.0.0</version>
-  <description>The cs4313 minesearch_project package</description>
+  <description>The cs4313 ied_search_project package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->

minesearch_project/setup.py → ied_search_project/setup.py

@@ -2,7 +2,7 @@ from distutils.core import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 setup_args = generate_distutils_setup(
-    packages=['minesearch_project'],
+    packages=['ied_search_project'],
     package_dir={'' : 'src'}
 )
 

minesearch_project/worlds/minefield.world → ied_search_project/worlds/ied_field.world

@@ -1449,7 +1449,7 @@
       <pose>22 22 2 0 0 0</pose>
     </model> -->
 
-    <state world_name='mine_world'>
+    <state world_name='ied_world'>
       <sim_time>0 0</sim_time>
       <real_time>0 44986</real_time>
       <wall_time>1377677575 940727583</wall_time>

minesearch_project/launch/loadMine.xml

-<launch>
-  <!-- send table.xml to param server -->
-  <param name="mine1" command="$(find xacro)/xacro $(find minesearch_project)/models/mine.xacro" />
-  <param name="mine2" command="$(find xacro)/xacro $(find minesearch_project)/models/mine.xacro" />
-  <param name="mine3" command="$(find xacro)/xacro $(find minesearch_project)/models/mine.xacro" />
-  <param name="mine4" command="$(find xacro)/xacro $(find minesearch_project)/models/mine.xacro" />
-  <param name="mine5" command="$(find xacro)/xacro $(find minesearch_project)/models/mine.xacro" />
-</launch>
-