multi roboti example updated for noetic (#1154)

ros-simulation · Aug 28, 2020 · d9a3db2 · d9a3db2
1 parent 34b2c27
commit d9a3db2
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Showing 3 changed files with 7 additions and 4 deletions.
diff --git a/gazebo_plugins/test/multi_robot_scenario/launch/multi_robot_scenario.launch b/gazebo_plugins/test/multi_robot_scenario/launch/multi_robot_scenario.launch
@@ -1,3 +1,4 @@
+<?xml version="1.0"?>
 <launch>
 
 

diff --git a/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.gazebo.launch b/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.gazebo.launch
@@ -1,3 +1,4 @@
+<?xml version="1.0"?>
 <launch>
 
   <arg name="robot_name" default="p3dx" />
@@ -7,12 +8,12 @@
   <group ns="$(arg robot_name)">
 
     <!-- Load the URDF into the ROS Parameter Server -->
-    <param name="robot_description" command="$(find xacro)/xacro.py '$(find gazebo_plugins)/test/multi_robot_scenario/xacro/p3dx/pioneer3dx.xacro'" />
+    <param name="robot_description" command="$(find xacro)/xacro '$(find gazebo_plugins)/test/multi_robot_scenario/xacro/p3dx/pioneer3dx.xacro'" />
 
     <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
     <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" args="-urdf -model $(arg robot_name) -param robot_description $(arg robot_position) "/>
 
-    <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
+    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
       <param name="publish_frequency" type="double" value="30.0"/>
       <param name="tf_prefix" type="string" value="$(arg robot_name)"/>
     </node>

diff --git a/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.urdf.launch b/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.urdf.launch
@@ -1,9 +1,10 @@
+<?xml version="1.0"?>
 <launch>
 
   <!-- Load the URDF into the ROS Parameter Server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find v4r_gazebo)/xacro/pioneer3dx.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find v4r_gazebo)/xacro/pioneer3dx.xacro'" />
 
-  <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
       <param name="publish_frequency" type="double" value="30.0"/>
       <param name="tf_prefix" type="string" value=""/>
   </node>