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<launch>
<arg name="robot_address0" value="10:00:E8:D3:AA:48"/> <!--2996-->
<arg name="robot_address1" value="10:00:E8:C5:61:C9"/> <!--3092-->
<arg name="robot_address2" value="10:00:E8:D3:B6:1B"/> <!--2950-->
<arg name="robot_address3" value="10:00:E8:D3:AA:98"/> <!--2990-->
<param name="robot_description" textfile="$(find epuck_driver)/urdf/epuck_urdf.xml"/>
<group ns="epuck_robot_0">
<include file="$(find epuck_driver)/launch/epuck_controller.launch">
<arg name="epuck_address" value="$(arg robot_address0)"/>
<arg name="epuck_name" value="epuck_robot_0"/>
<arg name="cam_en" value="false"/>
<arg name="acc_en" value="false"/>
<arg name="prox_en" value="true"/>
<arg name="mot_pos_en" value="true"/>
<arg name="light_en" value="false"/>
<arg name="floor_en" value="false"/>
<arg name="sel_en" value="false"/> <!--this command is available only in ascii mode-->
<arg name="mot_speed_en" value="false"/>
<arg name="mic_en" value="false"/>
<arg name="xpos" value="-0.1"/>
<arg name="ypos" value="-0.1"/>
<arg name="theta" value="0.0"/>
<arg name="is_single_robot" value="0"/>
</include>
<!--<node pkg="tf" type="static_transform_publisher" name="epuck_robot_0_tf" args="0 0 0 0 0 0 /base_link /epuck_robot_0/base_link 30"/>-->
</group>
<group ns="epuck_robot_1">
<include file="$(find epuck_driver)/launch/epuck_controller.launch">
<arg name="epuck_address" value="$(arg robot_address1)"/>
<arg name="epuck_name" value="epuck_robot_1"/>
<arg name="cam_en" value="false"/>
<arg name="acc_en" value="false"/>
<arg name="prox_en" value="true"/>
<arg name="mot_pos_en" value="true"/>
<arg name="light_en" value="false"/>
<arg name="floor_en" value="false"/>
<arg name="sel_en" value="false"/> <!--this command is available only in ascii mode-->
<arg name="mot_speed_en" value="false"/>
<arg name="mic_en" value="false"/>
<arg name="xpos" value="-0.1"/>
<arg name="ypos" value="0.1"/>
<arg name="theta" value="0.0"/>
<arg name="is_single_robot" value="0"/>
</include>
<!--<node pkg="tf" type="static_transform_publisher" name="epuck_robot_1_tf" args="0 0 0 0 0 0 /base_link /epuck_robot_1/base_link 30"/>-->
</group>
<group ns="epuck_robot_2">
<include file="$(find epuck_driver)/launch/epuck_controller.launch">
<arg name="epuck_address" value="$(arg robot_address2)"/>
<arg name="epuck_name" value="epuck_robot_2"/>
<arg name="cam_en" value="false"/>
<arg name="acc_en" value="false"/>
<arg name="prox_en" value="true"/>
<arg name="mot_pos_en" value="true"/>
<arg name="light_en" value="false"/>
<arg name="floor_en" value="false"/>
<arg name="sel_en" value="false"/> <!--this command is available only in ascii mode-->
<arg name="mot_speed_en" value="false"/>
<arg name="mic_en" value="false"/>
<arg name="xpos" value="0.1"/>
<arg name="ypos" value="-0.1"/>
<arg name="theta" value="0.0"/>
<arg name="is_single_robot" value="0"/>
</include>
<!--<node pkg="tf" type="static_transform_publisher" name="epuck_robot_2_tf" args="0 0 0 0 0 0 /base_link /epuck_robot_2/base_link 30"/>-->
</group>
<group ns="epuck_robot_3">
<include file="$(find epuck_driver)/launch/epuck_controller.launch">
<arg name="epuck_address" value="$(arg robot_address3)"/>
<arg name="epuck_name" value="epuck_robot_3"/>
<arg name="cam_en" value="false"/>
<arg name="acc_en" value="false"/>
<arg name="prox_en" value="true"/>
<arg name="mot_pos_en" value="true"/>
<arg name="light_en" value="false"/>
<arg name="floor_en" value="false"/>
<arg name="sel_en" value="false"/> <!--this command is available only in ascii mode-->
<arg name="mot_speed_en" value="false"/>
<arg name="mic_en" value="false"/>
<arg name="xpos" value="0.1"/>
<arg name="ypos" value="0.1"/>
<arg name="theta" value="0.0"/>
<arg name="is_single_robot" value="0"/>
</include>
<!--<node pkg="tf" type="static_transform_publisher" name="epuck_robot_3_tf" args="0 0 0 0 0 0 /base_link /epuck_robot_3/base_link 30"/>-->
</group>
<node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find epuck_driver)/config/multi_epuck_driver_rviz.rviz"/>
</launch>
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