From 8d7629b90eff4adc8435474985b363af61d92c30 Mon Sep 17 00:00:00 2001
From: Markus Bader <markus.bader@mx-robotics.com>
Date: Wed, 26 Aug 2020 23:20:46 +0200
Subject: [PATCH] multi roboti example updated for noetic

---
 .../multi_robot_scenario/launch/multi_robot_scenario.launch  | 1 +
 .../multi_robot_scenario/launch/pioneer3dx.gazebo.launch     | 5 +++--
 .../test/multi_robot_scenario/launch/pioneer3dx.urdf.launch  | 5 +++--
 3 files changed, 7 insertions(+), 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
index ee83cabf5..3a1f9713e 100644
--- 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
index b13c1fef5..cbb812a0c 100644
--- 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
index 02822f097..a494a60bc 100644
--- 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>