Merge branch 'master' into add_reset_signal_1-29-18

RoboJackets · Feb 25, 2018 · a8e2daf · a8e2daf
2 parents 038b4e6 + 3ed1ad6
commit a8e2daf
Show file tree

Hide file tree

Showing 4 changed files with 11 additions and 4 deletions.
diff --git a/rr_gazebo/launch/macaroni_avc.launch b/rr_gazebo/launch/macaroni_avc.launch
@@ -2,6 +2,7 @@
 
     <include file="$(find rr_gazebo)/launch/macaroni_sim.launch">
         <arg name="world" value="$(find rr_gazebo)/worlds/avc.world"/>
+        <arg name="start_pose" value="0 0 -0.65"/>
     </include>
 
 </launch>
diff --git a/rr_gazebo/launch/macaroni_sim.launch b/rr_gazebo/launch/macaroni_sim.launch
@@ -1,5 +1,6 @@
 <launch>
     <arg name="world" default="worlds/empty.world"/>
+    <arg name="start_pose" default="0 0 0"/>
 
     <param name="/use_sim_time" value="true" />
 
@@ -22,5 +23,6 @@
 
     <node name="sim_controller" pkg="rr_gazebo" type="macaroni_controller" respawn="false" output="screen" />
 
-    <node name="spawn_platform_script" pkg="rr_gazebo" type="spawn_macaroni_platform.sh" />
+    <node name="spawn_platform_script" pkg="rr_gazebo" type="spawn_macaroni_platform.sh" 
+          args="$(arg start_pose)"/>
 </launch>
diff --git a/rr_gazebo/launch/spawn_macaroni_platform.launch b/rr_gazebo/launch/spawn_macaroni_platform.launch
@@ -1,8 +1,12 @@
 <launch>
+    <arg name="x" default="0"/>
+    <arg name="y" default="0"/>
+    <arg name="heading" default="0"/>
+
     <node name="spawn_platform" pkg="gazebo_ros" type="spawn_model"
           args="-file $(find rr_description)/urdf/macaroni.urdf
             -gazebo_namespace /gazebo
             -urdf -model macaroni
-            -x 0 -y 0 -z 0
-            -R 0 -P 0 -Y -0.65"/>
+            -x $(arg x) -y $(arg y) -z 0
+            -R 0 -P 0 -Y $(arg heading)"/>
 </launch>
diff --git a/rr_gazebo/scripts/spawn_macaroni_platform.sh b/rr_gazebo/scripts/spawn_macaroni_platform.sh
@@ -2,4 +2,4 @@
 
 sleep 3
 
-roslaunch rr_gazebo spawn_macaroni_platform.launch
+roslaunch rr_gazebo spawn_macaroni_platform.launch x:=$1 y:=$2 heading:=$3