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update main

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This commit is contained in:
Ilya Uraev 2024-04-22 15:06:46 +03:00
parent d5e7768d90
commit e8ea09e020
20 changed files with 315 additions and 168 deletions
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17
rbs_bringup/launch/multi_robot.launch.py
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@ -73,7 +73,7 @@ def launch_setup(context, *args, **kwargs):
convert_types=False,
).merge_yamls()
for robot in robots["scene_config"]:
namespace = "/" + robot["name"]
namespace: str = "/" + robot["name"]
ld.append(IncludeLaunchDescription(
PythonLaunchDescriptionSource([
PathJoinSubstitution([
@ -106,9 +106,13 @@ def launch_setup(context, *args, **kwargs):
"hardware": hardware,
"launch_controllers": launch_controllers,
"gazebo_gui": gazebo_gui,
"namespace": namespace,
"x": str(robot["pose"]["position"]["x"]),
"y": str(robot["pose"]["position"]["y"]),
"z": str(robot["pose"]["position"]["z"])
"z": str(robot["pose"]["position"]["z"]),
"roll": str(robot["pose"]["orientation"]["x"]),
"pitch": str(robot["pose"]["orientation"]["y"]),
"yaw": str(robot["pose"]["orientation"]["z"]),
}.items()
))
@ -117,9 +121,12 @@ def launch_setup(context, *args, **kwargs):
executable='create',
arguments=[
'-name', robot_name,
'-x', "0",#str(robot["spawn_point"][0]),
'-y', "0",#str(robot["spawn_point"][1]),
'-z', "0",#str(robot["spawn_point"][2]),
# '-x', str(robot["pose"]["position"]["x"]),
# '-y', str(robot["pose"]["position"]["y"]),
# '-z', str(robot["pose"]["position"]["z"]),
# '-R', str(robot["pose"]["orientation"]["x"]),
# '-P', str(robot["pose"]["orientation"]["y"]),
# '-Y', str(robot["pose"]["orientation"]["z"]),
'-topic', namespace + '/robot_description'],
output='screen',
condition=IfCondition(sim_gazebo))