spawn_multiple_robot/vrx_multirobot.launch at main · MustafaBayrak1/spawn_multiple_robot · GitHub

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<?xml version="1.0"?>
<launch>
<!-- In this launch file, we spawn multiple USVs in the VRX environment-->
  <env name="ROSCONSOLE_CONFIG_FILE" value="$(find vrx_gazebo)/config/custom_rosconsole.conf"/>
  <!-- Gazebo world to load -->
  <arg name="world" default="$(find vrx_gazebo)/worlds/example_course.world" />
  <!-- If true, run gazebo GUI -->
  <arg name="gui" default="true" />
  <!-- If true, run gazebo in verbose mode -->
  <arg name="verbose" default="false"/>
  <!-- Set various other gazebo arguments-->
  <arg name="extra_gazebo_args" default=""/>
  <!-- Start in a default namespace -->
  <arg name="namespace"/>
  <!-- Do we lock the vessel to the world?
  <arg name="wamv_locked" default="false" />-->
  <!-- Start paused? -->
  <arg name="paused" default="false"/>
  <!-- Acoustic pinger position(s) -->
  <arg name="pinger_params" default="$(find vrx_gazebo)/config/pinger.yaml"/>

  <!-- Initial USV location and attitude
  <arg name="x" default="-532" />
  <arg name="y" default="162" />
  <arg name="z" default="0.1" />
  <arg name="P" default="0" />
  <arg name="R" default="0" />
  <arg name="Y" default="1" />-->

  <!-- Allow user specified thruster configurations
       H = stern trusters on each hull
       T = H with a lateral thruster
       X = "holonomic" configuration
  <arg name="thrust_config" default="T" />-->

  <!-- Do we load the VRX sensor suite?
  <arg name="vrx_sensors_enabled" default="true" /> -->

  <!-- Start Gazebo with the world file -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name"   value="$(arg world)"/>
    <arg name="verbose"      value="$(arg verbose)"/>
    <arg name="paused"       value="$(arg paused)"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui"          value="$(arg gui)" />
    <arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
  </include>

  <!-- Load robot model -->
  <!-- include our robots -->
  <include file="$(find vrx_gazebo)/launch/robots.launch"/>

  <!-- Set the pinger location -->
  <node name="set_pinger_position" pkg="vrx_gazebo" type="set_pinger_position.py" output="screen">
    <rosparam command="load" file="$(arg pinger_params)" />
  </node>
  <node name="pinger_visualization" pkg="vrx_gazebo" type="pinger_visualization.py" />

</launch>