[Beetle] modified sensor launch to support multi streaming id of mocap

sugihara-16 · Sep 9, 2023 · 652507e · 652507e
1 parent 75e6b9e
commit 652507e
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/robots/beetle/launch/bringup.launch b/robots/beetle/launch/bringup.launch
@@ -16,7 +16,7 @@
   <arg name="spawn_z" default="0.0"/>
   <arg name="spawn_yaw" default="0.0"/>
   <arg name="config_dir" default="$(find beetle)/config"/>
-  <arg name="robot_id" default="1" />
+  <arg name="robot_id" default="2" />
   <arg name="robot_ns" value="beetle$(arg robot_id)" />
 
   ###########  Parameters  ###########
@@ -78,6 +78,7 @@
     <arg name="real_machine" value="$(arg real_machine)" />
     <arg name="simulation" value="$(arg simulation)" />
     <arg name="robot_ns" value="$(arg robot_ns)" />
+    <arg name="robot_id" value="$(arg robot_id)"/>
   </include >
 
   ###########  Servo Bridge  ###########

diff --git a/robots/beetle/launch/include/sensors.launch.xml b/robots/beetle/launch/include/sensors.launch.xml
@@ -3,7 +3,7 @@
   <arg name="real_machine" default="false" />
   <arg name="simulation" default="false" />
   <arg name="robot_ns" default="gimbalrotor" />
-
+  <arg name="robot_id" default="1" />
   <group ns="$(arg robot_ns)">
 
     <group if="$(arg real_machine)">
@@ -17,7 +17,9 @@
       </group>
 
       <!-- mocap -->
-      <include file="$(find aerial_robot_base)/launch/external_module/mocap.launch" />
+      <include file="$(find aerial_robot_base)/launch/external_module/mocap.launch">
+	<arg name="robot_id" value="$(arg robot_id)"/>
+      </include>
     </group>
 
     <!-- basic configuration for sensors (e.g. noise sigma) -->