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#!/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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