mobots2.launch

<?xml version="1.0"?>
<launch>
	<machine name="rasp0" address="192.168.0.1" env-loader="/opt/ros/fuerte/env.sh" default="false" user="pi" password="raspberry"/>
	<machine name="rasp1" address="192.168.0.2" env-loader="/opt/ros/fuerte/env.sh" default="false" user="pi" password="raspberry"/>
	<machine name="rasp2" address="192.168.0.3" env-loader="/opt/ros/fuerte/env.sh" default="never" user="pi" password="raspberry"/>
	
	<node machine="rasp0" name="hardware_driver0" pkg="hardware_driver" type="hardware_driver"/>
	<node machine="rasp1" name="hardware_driver1" pkg="hardware_driver" type="hardware_driver"/>
	<node machine="rasp2" name="hardware_driver2" pkg="hardware_driver" type="hardware_driver"/>
	
	<node machine="rasp0" name="shutter0" pkg="shutter" type="shutter" respawn="true"/>
	<node machine="rasp1" name="shutter1" pkg="shutter" type="shutter" respawn="true"/>
	<node machine="rasp2" name="shutter2" pkg="shutter" type="shutter" respawn="true"/>
	
	
	<!-- feature detector -->
	<param name="/feature_detector/slice_count" type="int" value="5" />
	<param name="/feature_detector/features_per_slice" type="int" value="500" />
	<include file="$(find feature_detector)/launch/feature_detector.launch" />
	
	<!-- slam -->
	<node name="slam" pkg="slam" type="slam" output="screen" >
		
	<!-- rviz -->
	<node name="rviz" pkg="rviz" type="rviz" />

	<!-- image store -->
	<param name="/image_store/path" type="string" value="$HOME/mofoxdata" />
	<node name="image_store" pkg="image_store" type="image_store" />

	<!-- optional: image_view to see the pics of the mobots -->
	<!-- only works if usb_cam is running on the mobots -->
	<!--
		<node name="camView0" pkg="image_view" type="image_view" args="image:=/mobot0/usb_cam/image_raw"/>
		<node name="camView1" pkg="image_view" type="image_view" args="image:=/mobot1/usb_cam/image_raw"/>
		<node name="camView2" pkg="image_view" type="image_view" args="image:=/mobot2/usb_cam/image_raw"/>
		<include file="$(find shutter)/launch/usb_cam.launch" />
		-->

</launch>