Add a launch file for gazebo.

1 files changed, 0 insertions, 58 deletions

diff --git a/scripts/launch-robots.py b/scripts/launch-robots.py
deleted file mode 100755
index 8b09e0f..0000000
--- a/scripts/launch-robots.py
+++ /dev/null
@@ -1,58 +0,0 @@
-#!/usr/bin/env python3
-
-import math
-import sys
-from typing import Tuple
-
-ORIGIN = [0.0, 0.0]
-DISTANCE = 1.5
-
-TEMPLATE = """
-  <group ns="robot{n}">
-    <param name="tf_prefix" value="robot{n}" />
-    <include file="$(find murl)/launch/one-robot.launch">
-      <arg name="robot_name" value="Robot{n}"/>
-      <arg name="x_pos" value="{x}"/>
-      <arg name="y_pos" value="{y}"/>
-      <arg name="z_pos" value="{z}"/>
-    </include>
-  </group>
-"""
-
-MAGIC_STRING = "<!-- INCLUDE ROBOTS -->"
-
-def get_pose(i : int, n : int) -> Tuple[float, float, float]:
-    angle = 2 * math.pi * i / n
-    x = ORIGIN[0] + DISTANCE * math.cos(angle)
-    y = ORIGIN[1] + DISTANCE * math.sin(angle)
-    z = 0.0
-    return (x , y , z)
-
-
-def make_robot_groups(n : int) -> str:
-    output = ""
-    for i in range(n):
-        x , y , z = get_pose(i, n)
-        output += TEMPLATE.format(
-            n = i,
-            x = round(x, 3),
-            y = round(y, 3),
-            z = round(z, 3))
-    return output
-
-
-def splice_robots(text : str, n : int) -> str:
-    return text.replace(MAGIC_STRING, make_robot_groups(n))
-
-
-def main(filename : str, n : int):
-    with open(filename, 'r') as f:
-        print(splice_robots(f.read(), n))
-
-
-if __name__ == '__main__':
-    if len(sys.argv) != 3:
-        sys.exit(1)
-    filename = sys.argv[1]
-    robots = int(sys.argv[2])
-    main(filename, robots)