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multi roboti example updated for noetic #1154

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merged 1 commit into from Aug 28, 2020
Merged

multi roboti example updated for noetic #1154

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1 change: 1 addition & 0 deletions gazebo_plugins/test/multi_robot_scenario/launch/multi_robot_scenario.launch
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@@ -1,3 +1,4 @@
<?xml version="1.0"?>
<launch>


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5 changes: 3 additions & 2 deletions gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.gazebo.launch
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@@ -1,3 +1,4 @@
<?xml version="1.0"?>
<launch>

<arg name="robot_name" default="p3dx" />
Expand All @@ -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>
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5 changes: 3 additions & 2 deletions gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.urdf.launch
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@@ -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>
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