From 652507e1b6fe49379a7d3c214578c67a00d895e5 Mon Sep 17 00:00:00 2001
From: Junichiro <j-sugihara@jsk.imi.i.u-tokyo.ac.jp>
Date: Sat, 9 Sep 2023 19:09:03 +0900
Subject: [PATCH] [Beetle] modified sensor launch to support multi streaming id
 of mocap

---
 robots/beetle/launch/bringup.launch             | 3 ++-
 robots/beetle/launch/include/sensors.launch.xml | 6 ++++--
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/robots/beetle/launch/bringup.launch b/robots/beetle/launch/bringup.launch
index 3e0d00223..ee9cb11d4 100644
--- 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
index 37446871b..0293268d3 100644
--- 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) -->