Problem with multiple robots

[Analtino2021]

Good morning teacher @miguelriemoliveira ,

I'm not beein able to change the color of the robot through the command line. even with the macro apparently working. It keeps giving me the Default color.
Thats my: Player.urdf.xacro

<?xml version="1.0" ?>
<robot name="p_amartinho" xmlns:xacro="http://ros.org/wiki/xacro">
  <!--  Xacro description of turtlebot robot waffle pi used to play team hunt.-->
  <!-- Analtino Martinho-->
  <!--  PSR, January 2021-->

  <!--Args are local, properties are global, so we copy the values of the arguments to the properties-->
  <xacro:arg name="player_name" default="p_amartinho" />
  <xacro:arg name="player_color" default="Yellow" /> <!-- e.g. Red, Orange. Must exist in Gazebo/Colors and be defined in properties.xacro.-->

  <!--Properties are global so they can be viewed from inside the included xacros-->
  <!--  args are used with $(arg arg_name), properties are used as ${property_name}-->
  <xacro:property name="player_name" value="$(arg player_name)"/>
  <xacro:property name="player_color" value="$(arg player_color)"/>

  <!-- Include other files-->
  <xacro:include filename="$(find ${player_name}_description)/urdf/properties.xacro"/>

  <!--  <xacro:include filename="$(find ${player_name}_description)/urdf/player.gazebo.xacro"/>-->
  <xacro:include filename="$(find ${player_name}_description)/urdf/player.gazebo.macro.xacro"/>
  <xacro:gazebo_macro player_color="${player_color}" laser_visual="true" camera_visual="false" imu_visual="true"/>

<!-- (...) -->
  <link name="base_footprint"/>

    <joint name="base_joint" type="fixed">
      <parent link="base_footprint"/>
      <child link="base_link" />
      <origin xyz="0 0 0.010" rpy="0 0 0"/>
    </joint>

    <link name="base_link">
      <visual>
        <origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://turtlebot3_description/meshes/bases/waffle_pi_base.stl" scale="0.001 0.001 0.001"/>
        </geometry>
        <material name="light_black"/>
      </visual>

      <collision>
        <origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
        <geometry>
          <box size="0.266 0.266 0.094"/>
        </geometry>
      </collision>

      <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="1.3729096e+00"/>
        <inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
                 iyy="8.6195418e-03" iyz="-3.5422299e-06"
                 izz="1.4612727e-02" />
      </inertial>
    </link>

    <joint name="wheel_left_joint" type="continuous">
      <parent link="base_link"/>
      <child link="wheel_left_link"/>
      <origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
      <axis xyz="0 0 1"/>
    </joint>

    <link name="wheel_left_link">
      <visual>
        <origin xyz="0 0 0" rpy="1.57 0 0"/>
        <geometry>
          <mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
        </geometry>
        <material name="dark"/>
      </visual>

      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <cylinder length="0.018" radius="0.033"/>
        </geometry>
      </collision>

      <inertial>
        <origin xyz="0 0 0" />
        <mass value="2.8498940e-02" />
        <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
                 iyy="1.1192413e-05" iyz="-1.4400107e-11"
                 izz="2.0712558e-05" />
        </inertial>
    </link>

    <joint name="wheel_right_joint" type="continuous">
      <parent link="base_link"/>
      <child link="wheel_right_link"/>
      <origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
      <axis xyz="0 0 1"/>
    </joint>

    <link name="wheel_right_link">
      <visual>
        <origin xyz="0 0 0" rpy="1.57 0 0"/>
        <geometry>
          <mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
        </geometry>
        <material name="dark"/>
      </visual>

      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <cylinder length="0.018" radius="0.033"/>
        </geometry>
      </collision>

      <inertial>
        <origin xyz="0 0 0" />
        <mass value="2.8498940e-02" />
        <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
                 iyy="1.1192413e-05" iyz="-1.4400107e-11"
                 izz="2.0712558e-05" />
        </inertial>
    </link>

    <joint name="caster_back_right_joint" type="fixed">
      <parent link="base_link"/>
      <child link="caster_back_right_link"/>
      <origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
    </joint>

    <link name="caster_back_right_link">
      <collision>
        <origin xyz="0 0.001 0" rpy="0 0 0"/>
        <geometry>
          <box size="0.030 0.009 0.020"/>
        </geometry>
      </collision>

      <inertial>
        <origin xyz="0 0 0" />
        <mass value="0.005" />
        <inertia ixx="0.001" ixy="0.0" ixz="0.0"
                 iyy="0.001" iyz="0.0"
                 izz="0.001" />
      </inertial>
    </link>

    <joint name="caster_back_left_joint" type="fixed">
      <parent link="base_link"/>
      <child link="caster_back_left_link"/>
      <origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
    </joint>

    <link name="caster_back_left_link">
      <collision>
        <origin xyz="0 0.001 0" rpy="0 0 0"/>
        <geometry>
          <box size="0.030 0.009 0.020"/>
        </geometry>
      </collision>

      <inertial>
        <origin xyz="0 0 0" />
        <mass value="0.005" />
        <inertia ixx="0.001" ixy="0.0" ixz="0.0"
                 iyy="0.001" iyz="0.0"
                 izz="0.001" />
      </inertial>
    </link>

    <joint name="imu_joint" type="fixed">
      <parent link="base_link"/>
      <child link="imu_link"/>
      <origin xyz="0.0 0 0.068" rpy="0 0 0"/>
    </joint>

    <link name="imu_link"/>

    <joint name="scan_joint" type="fixed">
      <parent link="base_link"/>
      <child link="base_scan"/>
      <origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
    </joint>

    <link name="base_scan">
      <visual>
        <origin xyz="0 0 0.0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
        </geometry>
        <material name="dark"/>
      </visual>

      <collision>
        <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
        <geometry>
          <cylinder length="0.0315" radius="0.055"/>
        </geometry>
      </collision>

      <inertial>
        <mass value="0.114" />
        <origin xyz="0 0 0" />
        <inertia ixx="0.001" ixy="0.0" ixz="0.0"
                 iyy="0.001" iyz="0.0"
                 izz="0.001" />
      </inertial>
    </link>

    <joint name="camera_joint" type="fixed">
      <origin xyz="0.073 -0.011 0.084" rpy="0 0 0"/>
      <parent link="base_link"/>
      <child link="camera_link"/>
    </joint>

    <link name="camera_link">
      <collision>
        <origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
        <geometry>
          <box size="0.015 0.030 0.027"/>
        </geometry>
      </collision>
    </link>

    <joint name="camera_rgb_joint" type="fixed">
      <origin xyz="0.003 0.011 0.009" rpy="0 0 0"/>
      <parent link="camera_link"/>
      <child link="camera_rgb_frame"/>
    </joint>
    <link name="camera_rgb_frame"/>

    <joint name="camera_rgb_optical_joint" type="fixed">
      <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
      <parent link="camera_rgb_frame"/>
      <child link="camera_rgb_optical_frame"/>
    </joint>
    <link name="camera_rgb_optical_frame"/>


</robot>

Thats my: player.gazebo.macro.xacro

<?xml version="1.0" ?>
<robot name="p_amartinho" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- <xacro:macro name="gazebo_macro" params="player_color laser_visual camera_visual imu_visual">-->

    <xacro:arg name="laser_visual"  default="false"/>
    <xacro:arg name="camera_visual" default="false"/>
    <xacro:arg name="imu_visual"    default="false"/>

    <gazebo reference="base_link">
      <material>Gazebo/DarkGrey</material>
    </gazebo>

    <gazebo reference="wheel_left_link">
      <mu1>0.1</mu1>
      <mu2>0.1</mu2>
      <kp>500000.0</kp>
      <kd>10.0</kd>
      <minDepth>0.001</minDepth>
      <maxVel>0.1</maxVel>
      <fdir1>1 0 0</fdir1>
      <material>Gazebo/${player_color}</material>
    </gazebo>

    <gazebo reference="wheel_right_link">
      <mu1>0.1</mu1>
      <mu2>0.1</mu2>
      <kp>500000.0</kp>
      <kd>10.0</kd>
      <minDepth>0.001</minDepth>
      <maxVel>0.1</maxVel>
      <fdir1>1 0 0</fdir1>
      <material>Gazebo/${player_color}</material>
    </gazebo>

    <gazebo reference="caster_back_right_link">
      <mu1>0.1</mu1>
      <mu2>0.1</mu2>
      <kp>1000000.0</kp>
      <kd>100.0</kd>
      <minDepth>0.001</minDepth>
      <maxVel>1.0</maxVel>
      <material>Gazebo/FlatBlack</material>
    </gazebo>

    <gazebo reference="caster_back_left_link">
      <mu1>0.1</mu1>
      <mu2>0.1</mu2>
      <kp>1000000.0</kp>
      <kd>100.0</kd>
      <minDepth>0.001</minDepth>
      <maxVel>1.0</maxVel>
      <material>Gazebo/FlatBlack</material>
    </gazebo>

    <gazebo reference="imu_link">
      <sensor type="imu" name="imu">
        <always_on>true</always_on>
        <visualize>$(arg imu_visual)</visualize>
      </sensor>
      <material>Gazebo/Grey</material>
    </gazebo>

    <gazebo>
      <plugin name="turtlebot3_waffle_pi_controller" filename="libgazebo_ros_diff_drive.so">
        <commandTopic>cmd_vel</commandTopic>
        <odometryTopic>odom</odometryTopic>
        <odometryFrame>odom</odometryFrame>
        <odometrySource>world</odometrySource>
        <publishOdomTF>true</publishOdomTF>
        <robotBaseFrame>base_footprint</robotBaseFrame>
        <publishWheelTF>false</publishWheelTF>
        <publishTf>true</publishTf>
        <publishWheelJointState>true</publishWheelJointState>
        <legacyMode>false</legacyMode>
        <updateRate>30</updateRate>
        <leftJoint>wheel_left_joint</leftJoint>
        <rightJoint>wheel_right_joint</rightJoint>
        <wheelSeparation>0.287</wheelSeparation>
        <wheelDiameter>0.066</wheelDiameter>
        <wheelAcceleration>1</wheelAcceleration>
        <wheelTorque>10</wheelTorque>
        <rosDebugLevel>na</rosDebugLevel>
      </plugin>
    </gazebo>

    <gazebo>
      <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
        <alwaysOn>true</alwaysOn>
        <bodyName>imu_link</bodyName>
        <frameName>imu_link</frameName>
        <topicName>imu</topicName>
        <serviceName>imu_service</serviceName>
        <gaussianNoise>0.0</gaussianNoise>
        <updateRate>0</updateRate>
        <imu>
          <noise>
            <type>gaussian</type>
            <rate>
              <mean>0.0</mean>
              <stddev>2e-4</stddev>
              <bias_mean>0.0000075</bias_mean>
              <bias_stddev>0.0000008</bias_stddev>
            </rate>
            <accel>
              <mean>0.0</mean>
              <stddev>1.7e-2</stddev>
              <bias_mean>0.1</bias_mean>
              <bias_stddev>0.001</bias_stddev>
            </accel>
          </noise>
        </imu>
      </plugin>
    </gazebo>

    <gazebo reference="base_scan">
      <material>Gazebo/${player_color}</material>
      <sensor type="ray" name="lds_lfcd_sensor">
        <pose>0 0 0 0 0 0</pose>
        <visualize>$(arg laser_visual)</visualize>
        <update_rate>5</update_rate>
        <ray>
          <scan>
            <horizontal>
              <samples>360</samples>
              <resolution>1</resolution>
              <min_angle>0.0</min_angle>
              <max_angle>6.28319</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.120</min>
            <max>3.5</max>
            <resolution>0.015</resolution>
          </range>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.01</stddev>
          </noise>
        </ray>
        <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
          <topicName>scan</topicName>
          <frameName>base_scan</frameName>
        </plugin>
      </sensor>
    </gazebo>

  <!--link : https://www.raspberrypi.org/documentation/hardware/camera/-->
    <gazebo reference="camera_rgb_frame">
      <sensor type="camera" name="Pi Camera">
        <always_on>true</always_on>
        <visualize>$(arg camera_visual)</visualize>
        <camera>
            <horizontal_fov>2.085595</horizontal_fov>
            <image>
                <width>1200</width>
                <height>480</height>
                <format>R8G8B8</format>
            </image>
            <clip>
                <near>0.03</near>
                <far>100</far>
            </clip>
        </camera>
        <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
          <alwaysOn>true</alwaysOn>
          <updateRate>30.0</updateRate>
          <cameraName>camera</cameraName>
          <frameName>camera_rgb_optical_frame</frameName>
          <imageTopicName>rgb/image_raw</imageTopicName>
          <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
          <hackBaseline>0.07</hackBaseline>
          <distortionK1>0.0</distortionK1>
          <distortionK2>0.0</distortionK2>
          <distortionK3>0.0</distortionK3>
          <distortionT1>0.0</distortionT1>
          <distortionT2>0.0</distortionT2>
        </plugin>
      </sensor>
    </gazebo>
<!-- </xacro:macro>-->
</robot>

and thats my : bringup_player.launch

<launch>
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="player_name" default = "p_amartinho"/>
  <arg name="x_pos" default="0.0"/>
  <arg name="y_pos" default="-1.5"/>
  <arg name="z_pos" default="0.0"/>

  <group ns= "$(arg player_name)">
      <param name="tf_prefix" value="$(arg player_name)"></param>
      <param name="robot_description" command="$(find xacro)/xacro --inorder $(find p_amartinho_description)/urdf/player.urdf.xacro" />

      <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
  </group>
<!--   include do spawn.launch -->
  <include file="$(find p_amartinho_bringup)/launch/spawn.launch">
    <arg name="player_name" value="$(arg player_name)"/>
    <arg name="x_pos" value="$(arg x_pos)"/>
    <arg name="y_pos" value="$(arg y_pos)"/>
    <arg name="z_pos" value="$(arg z_pos)"/>
  </include>

<!--       include do visualize.launch -->
    <include file="$(find p_amartinho_bringup)/launch/visualize.launch">
    </include>

    <!--     include do teleop.launch -->
<!--     <group ns= "$(arg player_name)"> -->
<!--         <node pkg="rqt_robot_steering" type="rqt_robot_steering" name="teleop_rqt" output="screem"> -->
<!--             <param name="default_topic" value="/$(arg player_name)/cmd.vel"></param> -->
<!--         </node> -->

<!--     </group> -->
</launch>

and I'm launching that way:

roslaunch p_amartinho_bringup bringup_player.launch player_color:=red

the result is:

[danifpdra]

Hi @Analtino2021 ,

Did you try it with
roslaunch p_amartinho_bringup bringup_player.launch player_color:="Red"

[Analtino2021]

Hi @danifpdra
No.
Let me try

[Analtino2021]

The result was the same

[danifpdra]

You don't have the player_color in the bringup.launch, that's the problem. It must be an argument in the robot_description

[Analtino2021]

Thanks @danifpdra,
I did
but it still dont work.

<launch>
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="player_name" default = "p_amartinho"/>
  <arg name="player_color" default="Yellow" />
  <arg name="x_pos" default="0.0"/>
  <arg name="y_pos" default="-1.5"/>
  <arg name="z_pos" default="0.0"/>

  <group ns= "$(arg player_name)">
      <param name="tf_prefix" value="$(arg player_name)"></param>
      <param name="robot_description" command="$(find xacro)/xacro --inorder $(find p_amartinho_description)/urdf/player.urdf.xacro" />

      <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
  </group>
<!--   include do spawn.launch -->
  <include file="$(find p_amartinho_bringup)/launch/spawn.launch">
    <arg name="player_name" value="$(arg player_name)"/>
    <arg name="player_color" value="$(arg player_color)"/>
    <arg name="x_pos" value="$(arg x_pos)"/>
    <arg name="y_pos" value="$(arg y_pos)"/>
    <arg name="z_pos" value="$(arg z_pos)"/>
  </include>

<!--       include do visualize.launch -->
    <include file="$(find p_amartinho_bringup)/launch/visualize.launch">
    </include>

    <!--     include do teleop.launch -->
<!--     <group ns= "$(arg player_name)"> -->
<!--         <node pkg="rqt_robot_steering" type="rqt_robot_steering" name="teleop_rqt" output="screem"> -->
<!--             <param name="default_topic" value="/$(arg player_name)/cmd.vel"></param> -->
<!--         </node> -->

<!--     </group> -->
</launch>

do I have do do a remap on my bringup??

[danifpdra]

No, you have to add it to the robot description:

<param name="robot_description" command="$(find xacro)/xacro --inorder $(find p_amartinho_description)/urdf/player.urdf.xacro" player_color:=$(arg player_color)"/

[Analtino2021]

Gives me an error of sintax

but here its al fine:

<launch>
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="player_name" default = "p_amartinho"/>
  <arg name="player_color" default="Yellow" />
  <arg name="x_pos" default="0.0"/>
  <arg name="y_pos" default="-1.5"/>
  <arg name="z_pos" default="0.0"/>

  <group ns= "$(arg player_name)">
      <param name="tf_prefix" value="$(arg player_name)"></param>
      <param name="robot_description" command="$(find xacro)/xacro --inorder $(find p_amartinho_description)/urdf/player.urdf.xacro" player_color:="$(arg player_color)" />

      <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
  </group>
<!--   include do spawn.launch -->
  <include file="$(find p_amartinho_bringup)/launch/spawn.launch">
    <arg name="player_name" value="$(arg player_name)"/>
    <arg name="x_pos" value="$(arg x_pos)"/>
    <arg name="y_pos" value="$(arg y_pos)"/>
    <arg name="z_pos" value="$(arg z_pos)"/>
  </include>

<!--       include do visualize.launch -->
    <include file="$(find p_amartinho_bringup)/launch/visualize.launch">
    </include>

    <!--     include do teleop.launch -->
<!--     <group ns= "$(arg player_name)"> -->
<!--         <node pkg="rqt_robot_steering" type="rqt_robot_steering" name="teleop_rqt" output="screem"> -->
<!--             <param name="default_topic" value="/$(arg player_name)/cmd.vel"></param> -->
<!--         </node> -->

<!--     </group> -->
</launch>

[danifpdra]

sorry, it's

<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find p_amartinho_description)/urdf/player.urdf.xacro' player_color:=$(arg player_color)"/>

[Analtino2021]

Thanks @danifpdra
it workd