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@xgroleau
xgroleau committed Oct 12, 2021
1 parent 8c26ee8 commit 81fc67c
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Showing 2 changed files with 77 additions and 4 deletions.
41 changes: 39 additions & 2 deletions src/swarmus_ros_simulation/launch/simple_swarm.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
<!-- This launch files spawns a swarm of 5 fully functional robots -->

<launch>
<arg name="interloc_refresh_rate" default="10.0"/>
<arg name="interloc_refresh_rate" default="10.0"/>

<include file="$(find swarmus_ros_simulation)/launch/reusable/simulation_services.launch"/>

Expand All @@ -28,4 +28,41 @@
<arg name="robot_pos_y" value="1.0"/>
</include>

</launch>
<!-- Robot 3 -->
<include file="$(find swarmus_ros_simulation)/launch/reusable/simulated_agent.launch">
<arg name="agent_id" default="3"/>
<arg name="interloc_refresh_rate" default="$(arg interloc_refresh_rate)"/>
</include>
<include file="$(find swarmus_ros_simulation)/launch/reusable/pioneer_spawner.launch">
<arg name="ns" value="agent_3"/>
<arg name="robot_name" value="agent_3"/>
<arg name="robot_pos_x" value="2.0"/>
<arg name="robot_pos_y" value="2.0"/>
</include>

<!-- Robot 4 -->
<include file="$(find swarmus_ros_simulation)/launch/reusable/simulated_agent.launch">
<arg name="agent_id" default="4"/>
<arg name="interloc_refresh_rate" default="$(arg interloc_refresh_rate)"/>
</include>
<include file="$(find swarmus_ros_simulation)/launch/reusable/pioneer_spawner.launch">
<arg name="ns" value="agent_4"/>
<arg name="robot_name" value="agent_4"/>
<arg name="robot_pos_x" value="-1.0"/>
<arg name="robot_pos_y" value="-1.0"/>
</include>

<!-- Robot 5 -->
<include file="$(find swarmus_ros_simulation)/launch/reusable/simulated_agent.launch">
<arg name="agent_id" default="5"/>
<arg name="interloc_refresh_rate" default="$(arg interloc_refresh_rate)"/>
</include>
<include file="$(find swarmus_ros_simulation)/launch/reusable/pioneer_spawner.launch">
<arg name="ns" value="agent_5"/>
<arg name="robot_name" value="agent_5"/>
<arg name="robot_pos_x" value="-2.0"/>
<arg name="robot_pos_y" value="-2.0"/>
</include>


</launch>
40 changes: 38 additions & 2 deletions src/swarmus_ros_simulation/launch/teleop_from_cell_multi_robot.launch
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Expand Up @@ -7,19 +7,55 @@
<include file="$(find swarmus_ros_simulation)/launch/reusable/simulated_agent.launch">
<arg name="agent_id" value="1"/>
</include>
<include file="$(find swarmus_ros_simulation)/launch/reusable/pioneer_spawner.launch">
<arg name="ns" value="agent_1"/>
<arg name="robot_name" value="agent_1"/>
<arg name="robot_pos_x" value="1.0"/>
<arg name="robot_pos_y" value="0"/>
</include>

<!-- Agent 2 -->
<include file="$(find swarmus_ros_simulation)/launch/reusable/simulated_agent.launch">
<arg name="agent_id" value="2"/>
</include>
<include file="$(find swarmus_ros_simulation)/launch/reusable/pioneer_spawner.launch">
<arg name="ns" value="agent_2"/>
<arg name="robot_name" value="agent_2"/>
<arg name="robot_pos_x" value="-1"/>
<arg name="robot_pos_y" value="1"/>
</include>

<!-- Agent 3 -->
<include file="$(find swarmus_ros_simulation)/launch/reusable/simulated_agent.launch">
<arg name="agent_id" value="3"/>
</include>
<include file="$(find swarmus_ros_simulation)/launch/reusable/pioneer_spawner.launch">
<arg name="ns" value="agent_3"/>
<arg name="robot_name" value="agent_3"/>
<arg name="robot_pos_x" value="-1"/>
<arg name="robot_pos_y" value="0"/>
</include>

<!-- Agent 4 -->
<include file="$(find swarmus_ros_simulation)/launch/reusable/simulated_agent.launch">
<arg name="agent_id" value="4"/>
</include>
<include file="$(find swarmus_ros_simulation)/launch/reusable/pioneer_spawner.launch">
<arg name="ns" value="agent_4"/>
<arg name="robot_name" value="agent_4"/>
<arg name="robot_pos_x" value="-1"/>
<arg name="robot_pos_y" value="-1"/>
</include>



<!-- Agent 5: Used by android cellphone -->
<include file="$(find swarmus_ros_simulation)/launch/reusable/simulated_cellphone_hiveboard_assembly.launch">
<arg name="agent_id" value="5"/>
<!-- This address is the loopback address when running with emulator and the android device address otherwise -->
<arg name="hivemind_host_address" value="192.168.1.133" />
<arg name="hivemind_host_address" value="127.0.0.1" />
<!-- This port is either the one set on the device or the port that has been configured to forward traffic
to the emulator. See HiveAR readme.md to see how to do this -->
<arg name="hivemind_host_port" value="7005"/>
</include>
</launch>
</launch>

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