forked from xtdrone/XTDrone
42 lines
1.6 KiB
XML
42 lines
1.6 KiB
XML
<launch>
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<arg name="paused" default="false"/>
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<arg name="use_sim_time" default="true"/>
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<arg name="gui" default="true"/>
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<arg name="headless" default="false"/>
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<arg name="debug" default="false"/>
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<arg name="obstaclestopper" default="false"/>
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<param name="use_sim_time" value="true"/>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find mavlink_sitl_gazebo)/worlds/outdoor3.world"/>
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<arg name="debug" value="$(arg debug)" />
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<arg name="gui" value="$(arg gui)" />
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<arg name="paused" value="$(arg paused)"/>
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<arg name="use_sim_time" value="$(arg use_sim_time)"/>
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<arg name="headless" value="$(arg headless)"/>
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</include>
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<group ns="ugv_0">
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<param name="robot_description"
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command="$(find xacro)/xacro.py '$(find catvehicle)/urdf/catvehicle1-3.xacro' roboname:='ugv_0'" />
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<include file="$(find catvehicle)/launch/catvehicle.launch">
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<arg name="robot_name" value="ugv_0"/>
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<arg name="init_pose" value="-x 0 -y 0 -z 0 -R 0 -P 0 -Y -0.6"/>
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<arg name="config_file" value="catvehicle_control.yaml"/>
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<arg name="obstaclestopper" value="$(arg obstaclestopper)"/>
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</include>
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</group>
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<group ns="ugv_1">
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<param name="robot_description"
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command="$(find xacro)/xacro.py '$(find catvehicle)/urdf/catvehicle4-6.xacro' roboname:='ugv_1'" />
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<include file="$(find catvehicle)/launch/catvehicle.launch">
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<arg name="robot_name" value="ugv_1"/>
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<arg name="init_pose" value="-x -5 -y 0 -z 0 -R 0 -P 0 -Y -0.6"/>
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<arg name="config_file" value="catvehicle_control.yaml"/>
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<arg name="obstaclestopper" value="$(arg obstaclestopper)"/>
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</include>
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</group>
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</launch>
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