From 33b390710b70d364c0ee08daf44c40156158d181 Mon Sep 17 00:00:00 2001
From: Junichiro Sugihara <j-sugihara@jsk.imi.i.u-tokyo.ac.jp>
Date: Sat, 18 Nov 2023 19:21:21 +0900
Subject: [PATCH] [Beetle] change robot name in multi egent world

---
 .../assembly_tasks/four_module_test.launch       | 16 ++++++----------
 .../assembly_tasks/three_module_test.launch      |  9 +++------
 2 files changed, 9 insertions(+), 16 deletions(-)

diff --git a/robots/beetle/launch/assembly_tasks/four_module_test.launch b/robots/beetle/launch/assembly_tasks/four_module_test.launch
index e4092a0e8..434827698 100644
--- a/robots/beetle/launch/assembly_tasks/four_module_test.launch
+++ b/robots/beetle/launch/assembly_tasks/four_module_test.launch
@@ -1,17 +1,17 @@
 <?xml version="1.0" encoding="utf-8"?>
 <launch>
   <arg name="headless" default="false"/>
-  <arg name="spawn_x_1" default="0.0"/>
-  <arg name="spawn_y_1" default="1.5"/>
+  <arg name="spawn_x_1" default="-2.0"/>
+  <arg name="spawn_y_1" default="0.0"/>
   <arg name="spawn_yaw_1" default="0.0"/>
-  <arg name="spawn_x_2" default="0.0"/>
+  <arg name="spawn_x_2" default="-1.0"/>
   <arg name="spawn_y_2" default="0.0"/>
   <arg name="spawn_yaw_2" default="0.0"/>
-  <arg name="spawn_x_3" default="1.0"/>
+  <arg name="spawn_x_3" default="0.0"/>
   <arg name="spawn_y_3" default="0.0"/>
   <arg name="spawn_yaw_3" default="0.0"/>
-  <arg name="spawn_x_4" default="3.5"/>
-  <arg name="spawn_y_4" default="1.5"/>
+  <arg name="spawn_x_4" default="1.0"/>
+  <arg name="spawn_y_4" default="0.0"/>
   <arg name="spawn_yaw_4" default="0.0"/>
   <group>
     <include file="$(find beetle)/launch/bringup.launch">
@@ -24,7 +24,6 @@
       <arg name="spawn_x" default="$(arg spawn_x_1)"/>
       <arg name="spawn_y" default="$(arg spawn_y_1)"/>
       <arg name="spawn_yaw" default="$(arg spawn_yaw_1)"/>
-      <!-- <arg name="airframe" default="tri"/> -->
     </include>
 
     <include file="$(find beetle)/launch/bringup.launch">
@@ -37,7 +36,6 @@
       <arg name="spawn_x" default="$(arg spawn_x_2)"/>
       <arg name="spawn_y" default="$(arg spawn_y_2)"/>
       <arg name="spawn_yaw" default="$(arg spawn_yaw_2)"/>
-      <!-- <arg name="airframe" default="tri"/> -->
     </include>
 
     <include file="$(find beetle)/launch/bringup.launch">
@@ -50,7 +48,6 @@
       <arg name="spawn_x" default="$(arg spawn_x_3)"/>
       <arg name="spawn_y" default="$(arg spawn_y_3)"/>
       <arg name="spawn_yaw" default="$(arg spawn_yaw_3)"/>
-      <!-- <arg name="airframe" value="tri"/> -->
     </include>
 
     <include file="$(find beetle)/launch/bringup.launch">
@@ -63,7 +60,6 @@
       <arg name="spawn_x" default="$(arg spawn_x_4)"/>
       <arg name="spawn_y" default="$(arg spawn_y_4)"/>
       <arg name="spawn_yaw" default="$(arg spawn_yaw_4)"/>
-      <!-- <arg name="airframe" default="tri"/> -->
     </include>
   </group>
 
diff --git a/robots/beetle/launch/assembly_tasks/three_module_test.launch b/robots/beetle/launch/assembly_tasks/three_module_test.launch
index 66018cf5f..20853299d 100644
--- a/robots/beetle/launch/assembly_tasks/three_module_test.launch
+++ b/robots/beetle/launch/assembly_tasks/three_module_test.launch
@@ -11,7 +11,7 @@
   <arg name="spawn_y_3" default="0.0"/>
   <arg name="spawn_yaw_3" default="0.0"/>
   <group>
-    <include file="$(find gimbalrotor)/launch/bringup.launch">
+    <include file="$(find beetle)/launch/bringup.launch">
       <arg name="robot_id" value="1"/>
       <arg name="real_machine" value="false"/>
       <arg name="simulation" value="true"/>
@@ -21,10 +21,9 @@
       <arg name="spawn_x" default="$(arg spawn_x_1)"/>
       <arg name="spawn_y" default="$(arg spawn_y_1)"/>
       <arg name="spawn_yaw" default="$(arg spawn_yaw_1)"/>
-      <!-- <arg name="airframe" default="tri"/> -->
     </include>
 
-    <include file="$(find gimbalrotor)/launch/bringup.launch">
+    <include file="$(find beetle)/launch/bringup.launch">
       <arg name="robot_id" value="2"/>
       <arg name="real_machine" value="false"/>
       <arg name="simulation" value="true"/>
@@ -34,10 +33,9 @@
       <arg name="spawn_x" default="$(arg spawn_x_2)"/>
       <arg name="spawn_y" default="$(arg spawn_y_2)"/>
       <arg name="spawn_yaw" default="$(arg spawn_yaw_2)"/>
-      <!-- <arg name="airframe" default="tri"/> -->
     </include>
 
-    <include file="$(find gimbalrotor)/launch/bringup.launch">
+    <include file="$(find beetle)/launch/bringup.launch">
       <arg name="robot_id" value="3"/>
       <arg name="real_machine" value="false"/>
       <arg name="simulation" value="true"/>
@@ -47,7 +45,6 @@
       <arg name="spawn_x" default="$(arg spawn_x_3)"/>
       <arg name="spawn_y" default="$(arg spawn_y_3)"/>
       <arg name="spawn_yaw" default="$(arg spawn_yaw_3)"/>
-      <!-- <arg name="airframe" value="tri"/> -->
     </include>
 
   </group>