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<launch>
<param name="use_sim_time" value="true" />
<group ns="robot1">
<param name="tf_prefix" value="robot1"/>
<!-- send the erratic robot XML to param server -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find erratic_description)/urdf/erratic.urdf.xacro'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="spawn_robot1" pkg="gazebo" type="spawn_model"
args="-param robot_description
-urdf
-unpause
-z 0.01
-model robot1
-ros_namespace /gazebo"
respawn="false" output="screen" />
<!-- start robot state publisher -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher1" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
</group>
<group ns="robot2">
<param name="tf_prefix" value="robot2"/>
<!-- send the erratic robot XML to param server -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find erratic_description)/urdf/erratic.urdf.xacro'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="spawn_robot2" pkg="gazebo" type="spawn_model"
args="-param robot_description
-urdf
-unpause
-x 1.00
-z 0.01
-model robot2
-ros_namespace /gazebo"
respawn="false" output="screen" />
<!-- start robot state publisher -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher2" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
</group>
</launch>
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