From 1678bf6e4f607658fe504f4870fd213d0bdf5f6a Mon Sep 17 00:00:00 2001
From: Greg Brown <gmb60@cam.ac.uk>
Date: Mon, 31 Jan 2022 00:17:58 +0000
Subject: Add a launch file for gazebo.

---
 launch-robots.py | 64 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 64 insertions(+)
 create mode 100755 launch-robots.py

(limited to 'launch-robots.py')

diff --git a/launch-robots.py b/launch-robots.py
new file mode 100755
index 0000000..7cc7e16
--- /dev/null
+++ b/launch-robots.py
@@ -0,0 +1,64 @@
+#!/usr/bin/env python3
+
+import argparse
+import math
+from shutil import which
+import subprocess
+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):
+    out = None
+    with open(filename, 'r') as fd:
+        out = splice_robots(fd.read(), n)
+
+    subprocess.run([which('roslaunch'), '-'], input=out, text=True)
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(description='Launches gazebo')
+    parser.add_argument('--template', action='store', type=str, help='Template launch file.')
+    parser.add_argument('--robots', action='store', type=int, help='Number of robots.')
+    args, unknown = parser.parse_known_args()
+    main(args.template, args.robots)
-- 
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