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[Beetle][simu] add new launch where eight modules spawn
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robots/beetle/launch/assembly_tasks/eight_module_test.launch
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,130 @@ | ||
| <?xml version="1.0" encoding="utf-8"?> | ||
| <launch> | ||
| <arg name="headless" default="false"/> | ||
| <arg name="spawn_x_1" default="-1.0"/> | ||
| <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_y_2" default="0.0"/> | ||
| <arg name="spawn_yaw_2" default="0.0"/> | ||
| <arg name="spawn_x_3" default="1.0"/> | ||
| <arg name="spawn_y_3" default="0.0"/> | ||
| <arg name="spawn_yaw_3" default="0.0"/> | ||
| <arg name="spawn_x_4" default="2.0"/> | ||
| <arg name="spawn_y_4" default="0.0"/> | ||
| <arg name="spawn_yaw_4" default="0.0"/> | ||
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| <arg name="spawn_x_5" default="3.0"/> | ||
| <arg name="spawn_y_5" default="0.0"/> | ||
| <arg name="spawn_yaw_5" default="0.0"/> | ||
| <arg name="spawn_x_6" default="4.0"/> | ||
| <arg name="spawn_y_6" default="0.0"/> | ||
| <arg name="spawn_yaw_6" default="0.0"/> | ||
| <arg name="spawn_x_7" default="5.0"/> | ||
| <arg name="spawn_y_7" default="0.0"/> | ||
| <arg name="spawn_yaw_7" default="0.0"/> | ||
| <arg name="spawn_x_8" default="6.0"/> | ||
| <arg name="spawn_y_8" default="0.0"/> | ||
| <arg name="spawn_yaw_8" default="0.0"/> | ||
|
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| <group> | ||
| <include file="$(find beetle)/launch/bringup.launch"> | ||
| <arg name="robot_id" value="1"/> | ||
| <arg name="real_machine" value="false"/> | ||
| <arg name="simulation" value="true"/> | ||
| <arg name="headless" value="$(arg headless)"/> | ||
| <arg name="launch_gazebo" value="true"/> | ||
| <arg name="estimate_mode" value="1"/> | ||
| <arg name="spawn_x" default="$(arg spawn_x_1)"/> | ||
| <arg name="spawn_y" default="$(arg spawn_y_1)"/> | ||
| <arg name="spawn_yaw" default="$(arg spawn_yaw_1)"/> | ||
| </include> | ||
|
|
||
| <include file="$(find beetle)/launch/bringup.launch"> | ||
| <arg name="robot_id" value="2"/> | ||
| <arg name="real_machine" value="false"/> | ||
| <arg name="simulation" value="true"/> | ||
| <arg name="headless" value="$(arg headless)"/> | ||
| <arg name="launch_gazebo" value="false"/> | ||
| <arg name="estimate_mode" value="1"/> | ||
| <arg name="spawn_x" default="$(arg spawn_x_2)"/> | ||
| <arg name="spawn_y" default="$(arg spawn_y_2)"/> | ||
| <arg name="spawn_yaw" default="$(arg spawn_yaw_2)"/> | ||
| </include> | ||
|
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| <include file="$(find beetle)/launch/bringup.launch"> | ||
| <arg name="robot_id" value="3"/> | ||
| <arg name="real_machine" value="false"/> | ||
| <arg name="simulation" value="true"/> | ||
| <arg name="headless" value="$(arg headless)"/> | ||
| <arg name="launch_gazebo" value="false"/> | ||
| <arg name="estimate_mode" value="1"/> | ||
| <arg name="spawn_x" default="$(arg spawn_x_3)"/> | ||
| <arg name="spawn_y" default="$(arg spawn_y_3)"/> | ||
| <arg name="spawn_yaw" default="$(arg spawn_yaw_3)"/> | ||
| </include> | ||
|
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||
| <include file="$(find beetle)/launch/bringup.launch"> | ||
| <arg name="robot_id" value="4"/> | ||
| <arg name="real_machine" value="false"/> | ||
| <arg name="simulation" value="true"/> | ||
| <arg name="headless" value="$(arg headless)"/> | ||
| <arg name="launch_gazebo" value="false"/> | ||
| <arg name="estimate_mode" value="1"/> | ||
| <arg name="spawn_x" default="$(arg spawn_x_4)"/> | ||
| <arg name="spawn_y" default="$(arg spawn_y_4)"/> | ||
| <arg name="spawn_yaw" default="$(arg spawn_yaw_4)"/> | ||
| </include> | ||
|
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|
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| <include file="$(find beetle)/launch/bringup.launch"> | ||
| <arg name="robot_id" value="5"/> | ||
| <arg name="real_machine" value="false"/> | ||
| <arg name="simulation" value="true"/> | ||
| <arg name="headless" value="$(arg headless)"/> | ||
| <arg name="launch_gazebo" value="false"/> | ||
| <arg name="estimate_mode" value="1"/> | ||
| <arg name="spawn_x" default="$(arg spawn_x_5)"/> | ||
| <arg name="spawn_y" default="$(arg spawn_y_5)"/> | ||
| <arg name="spawn_yaw" default="$(arg spawn_yaw_5)"/> | ||
| </include> | ||
|
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||
| <include file="$(find beetle)/launch/bringup.launch"> | ||
| <arg name="robot_id" value="6"/> | ||
| <arg name="real_machine" value="false"/> | ||
| <arg name="simulation" value="true"/> | ||
| <arg name="headless" value="$(arg headless)"/> | ||
| <arg name="launch_gazebo" value="false"/> | ||
| <arg name="estimate_mode" value="1"/> | ||
| <arg name="spawn_x" default="$(arg spawn_x_6)"/> | ||
| <arg name="spawn_y" default="$(arg spawn_y_6)"/> | ||
| <arg name="spawn_yaw" default="$(arg spawn_yaw_6)"/> | ||
| </include> | ||
|
|
||
| <include file="$(find beetle)/launch/bringup.launch"> | ||
| <arg name="robot_id" value="7"/> | ||
| <arg name="real_machine" value="false"/> | ||
| <arg name="simulation" value="true"/> | ||
| <arg name="headless" value="$(arg headless)"/> | ||
| <arg name="launch_gazebo" value="false"/> | ||
| <arg name="estimate_mode" value="1"/> | ||
| <arg name="spawn_x" default="$(arg spawn_x_7)"/> | ||
| <arg name="spawn_y" default="$(arg spawn_y_7)"/> | ||
| <arg name="spawn_yaw" default="$(arg spawn_yaw_7)"/> | ||
| </include> | ||
|
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| <include file="$(find beetle)/launch/bringup.launch"> | ||
| <arg name="robot_id" value="8"/> | ||
| <arg name="real_machine" value="false"/> | ||
| <arg name="simulation" value="true"/> | ||
| <arg name="headless" value="$(arg headless)"/> | ||
| <arg name="launch_gazebo" value="false"/> | ||
| <arg name="estimate_mode" value="1"/> | ||
| <arg name="spawn_x" default="$(arg spawn_x_8)"/> | ||
| <arg name="spawn_y" default="$(arg spawn_y_8)"/> | ||
| <arg name="spawn_yaw" default="$(arg spawn_yaw_8)"/> | ||
| </include> | ||
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| </group> | ||
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| </launch> |