From f6ee0e36c9cc075e5f007c44e95dc3aaa7736a57 Mon Sep 17 00:00:00 2001
From: Greg Brown <gmb60@cam.ac.uk>
Date: Sun, 30 Jan 2022 23:50:36 +0000
Subject: Initial commit

---
 launch/all-robots.launch.in | 22 ++++++++++++++++++++++
 launch/localisation.launch  |  9 +++++++++
 launch/one-robot.launch     | 12 ++++++++++++
 launch/rviz0.launch         | 13 +++++++++++++
 launch/rviz1.launch         | 13 +++++++++++++
 5 files changed, 69 insertions(+)
 create mode 100644 launch/all-robots.launch.in
 create mode 100644 launch/localisation.launch
 create mode 100644 launch/one-robot.launch
 create mode 100644 launch/rviz0.launch
 create mode 100644 launch/rviz1.launch

(limited to 'launch')

diff --git a/launch/all-robots.launch.in b/launch/all-robots.launch.in
new file mode 100644
index 0000000..d98782a
--- /dev/null
+++ b/launch/all-robots.launch.in
@@ -0,0 +1,22 @@
+<launch>
+  <!--
+       Default GUI to true for local Gazebo client. Allows override
+       to set disable GUI for RoboMaker. See part0.launch.
+  -->
+  <arg name="use_gui" default="true"/>
+  <arg name="model" default="burger" doc="model type [burger, waffle, waffle_pi]"/>
+  <arg name="world" default="simple" doc="world [simple]"/>
+
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" value="$(find murl)/worlds/$(arg world).world"/>
+    <arg name="paused" value="true"/>
+    <arg name="use_sim_time" value="true"/>
+    <arg name="gui" value="$(arg use_gui)"/>
+    <arg name="headless" value="false"/>
+    <arg name="debug" value="false"/>
+  </include>
+
+  <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
+
+  <!-- INCLUDE ROBOTS -->
+</launch>
diff --git a/launch/localisation.launch b/launch/localisation.launch
new file mode 100644
index 0000000..9aa9447
--- /dev/null
+++ b/launch/localisation.launch
@@ -0,0 +1,9 @@
+<launch>
+	<arg name="robots" />
+    <arg name="cloud" />
+	<node pkg="murl"
+          type="localisation.py"
+          name="localisation"
+          args="--robots=$(arg robots) --cloud=$(arg cloud)"
+          output="screen"/>
+</launch>
diff --git a/launch/one-robot.launch b/launch/one-robot.launch
new file mode 100644
index 0000000..74ed60c
--- /dev/null
+++ b/launch/one-robot.launch
@@ -0,0 +1,12 @@
+<launch>
+  <arg name="robot_name"/>
+  <arg name="x_pos"/>
+  <arg name="y_pos"/>
+  <arg name="z_pos"/>
+
+  <node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf"  args="-urdf -model $(arg robot_name) -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param /robot_description" />
+
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+    <param name="publish_frequency" type="double" value="50.0" />
+  </node>
+</launch>
diff --git a/launch/rviz0.launch b/launch/rviz0.launch
new file mode 100644
index 0000000..b9028cb
--- /dev/null
+++ b/launch/rviz0.launch
@@ -0,0 +1,13 @@
+<launch>
+  <arg name="model" default="burger" doc="model type [burger, waffle, waffle_pi]"/>
+
+  <!--
+       Default -Open rViz config to true for local rviz client.
+       Allows override to disable it for RoboMaker. See hello_world_aws.launch.
+  -->
+  <arg name="open_rviz_config" default="true"/>
+  <group if="$(arg open_rviz_config)">
+    <node name="rviz0" pkg="rviz" type="rviz" args="-d $(find murl)/rviz/robot0.rviz"/>
+  </group>
+
+</launch>
diff --git a/launch/rviz1.launch b/launch/rviz1.launch
new file mode 100644
index 0000000..3ce0ab8
--- /dev/null
+++ b/launch/rviz1.launch
@@ -0,0 +1,13 @@
+<launch>
+  <arg name="model" default="burger" doc="model type [burger, waffle, waffle_pi]"/>
+
+  <!--
+       Default -Open rViz config to true for local rviz client.
+       Allows override to disable it for RoboMaker. See hello_world_aws.launch.
+  -->
+  <arg name="open_rviz_config" default="true"/>
+  <group if="$(arg open_rviz_config)">
+    <node name="rviz1" pkg="rviz" type="rviz" args="-d $(find murl)/rviz/robot1.rviz"/>
+  </group>
+
+</launch>
-- 
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