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Changes propagation #29
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@gsilano
gsilano committed Aug 26, 2020
1 parent f1a8283 commit fa3dd54
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5 changes: 3 additions & 2 deletions CHANGELOG.rst
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Changelog for package BebopS
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

2.0.2 (2020-08-22)
2.0.2 (2020-08-26)
------------------
* Add multi-robot example #29
* Add a default RVIZ configuration file #28
* Contributors: tomlogan501
* Contributors: tomlogan501, Collin-Thornton

2.0.1 (2019-12-26)
------------------
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129 changes: 129 additions & 0 deletions launch/multiple_bebop_without_controller.launch
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<?xml version="1.0"?>

<launch>
<arg name="name" default="bebop"/>
<arg name="number" default="1"/>
<arg name="x" default="0.0" />
<arg name="y" default="0.0" />
<arg name="z" default="0.0" />
<arg name="use_sim_time" default="true"/>
<arg name="world_name" default="basic"/>
<arg name="wind_force" default="0.0"/>
<arg name="wind_start" default="5.0"/>
<arg name="wind_duration" default="40.0"/>
<arg name="wind_direction_x" default="0.0"/>
<arg name="wind_direction_y" default="0.0"/>
<arg name="wind_direction_z" default="0.0"/>
<arg name="enable_odometry_sensor_with_noise" default="false"/>
<!-- The "disable_odometry_sensor_with_noise" variable values is equal to true if "enable_odometry_sensor_with_noise"
is false, and viceversa -->
<arg name="disable_odometry_sensor_with_noise" value="true" unless="$(arg enable_odometry_sensor_with_noise)"/>
<arg name="disable_odometry_sensor_with_noise" value="false" if="$(arg enable_odometry_sensor_with_noise)"/>
<arg name="enable_ground_truth_sensor" default="false"/>
<arg name="enable_wind_plugin" default="false"/>
<arg name="enable_laser1D" default="false"/>
<arg name="enable_imu" default="true"/>

<env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find bebop_simulator)/models"/>
<env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find bebop_simulator)/models"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find bebop_simulator)/worlds/$(arg world_name).world" />
</include>

<!-- Launch Bebop_0 -->
<group ns="bebop_0">
<include file="$(find bebop_simulator)/launch/spawn_bebop.launch">
<arg name="name" value="$(arg name)0" />
<arg name="x" value="0.63661977"/>
<arg name="y" value="0"/>
<arg name="z" value="0"/>
<arg name="wind_force" value="$(arg wind_force)"/>
<arg name="wind_start" value="$(arg wind_start)"/>
<arg name="wind_duration" value="$(arg wind_duration)"/>
<arg name="wind_direction_x" value="$(arg wind_direction_x)"/>
<arg name="wind_direction_y" value="$(arg wind_direction_y)"/>
<arg name="wind_direction_z" value="$(arg wind_direction_z)"/>
<!-- The disable_odometry_sensor_with_noise will only become true if enable_odometry_sensor_with_noise will is false.
In this way, only one odometry sensor will be simulated: with or without noise. -->
<arg name="enable_odometry_sensor_with_noise" value="$(arg enable_odometry_sensor_with_noise)"/>
<arg name="disable_odometry_sensor_with_noise" value="$(arg disable_odometry_sensor_with_noise)" />
<arg name="enable_ground_truth_sensor" value="$(arg enable_ground_truth_sensor)"/>
<arg name="enable_wind_plugin" value="$(arg enable_wind_plugin)"/>
<arg name="enable_laser1D" value="$(arg enable_laser1D)"/>
<arg name="enable_imu" value="$(arg enable_imu)"/>
</include>
</group>

<!-- Launch Bebop_1 -->
<group ns="bebop_1">
<include file="$(find bebop_simulator)/launch/spawn_bebop.launch">
<arg name="name" value="$(arg name)1" />
<arg name="x" value="0"/>
<arg name="y" value="0.63661977"/>
<arg name="z" value="$(arg z)"/>
<arg name="wind_force" value="$(arg wind_force)"/>
<arg name="wind_start" value="$(arg wind_start)"/>
<arg name="wind_duration" value="$(arg wind_duration)"/>
<arg name="wind_direction_x" value="$(arg wind_direction_x)"/>
<arg name="wind_direction_y" value="$(arg wind_direction_y)"/>
<arg name="wind_direction_z" value="$(arg wind_direction_z)"/>
<!-- The disable_odometry_sensor_with_noise will only become true if enable_odometry_sensor_with_noise will is false.
In this way, only one odometry sensor will be simulated: with or without noise. -->
<arg name="enable_odometry_sensor_with_noise" value="$(arg enable_odometry_sensor_with_noise)"/>
<arg name="disable_odometry_sensor_with_noise" value="$(arg disable_odometry_sensor_with_noise)" />
<arg name="enable_ground_truth_sensor" value="$(arg enable_ground_truth_sensor)"/>
<arg name="enable_wind_plugin" value="$(arg enable_wind_plugin)"/>
<arg name="enable_laser1D" value="$(arg enable_laser1D)"/>
<arg name="enable_imu" value="$(arg enable_imu)"/>
</include>
</group>

<!-- Launch Bebop_2 -->
<group ns="bebop_2">
<include file="$(find bebop_simulator)/launch/spawn_bebop.launch">
<arg name="name" value="$(arg name)2" />
<arg name="x" value="-0.63661977"/>
<arg name="y" value="0"/>
<arg name="z" value="$(arg z)"/>
<arg name="wind_force" value="$(arg wind_force)"/>
<arg name="wind_start" value="$(arg wind_start)"/>
<arg name="wind_duration" value="$(arg wind_duration)"/>
<arg name="wind_direction_x" value="$(arg wind_direction_x)"/>
<arg name="wind_direction_y" value="$(arg wind_direction_y)"/>
<arg name="wind_direction_z" value="$(arg wind_direction_z)"/>
<!-- The disable_odometry_sensor_with_noise will only become true if enable_odometry_sensor_with_noise will is false.
In this way, only one odometry sensor will be simulated: with or without noise. -->
<arg name="enable_odometry_sensor_with_noise" value="$(arg enable_odometry_sensor_with_noise)"/>
<arg name="disable_odometry_sensor_with_noise" value="$(arg disable_odometry_sensor_with_noise)" />
<arg name="enable_ground_truth_sensor" value="$(arg enable_ground_truth_sensor)"/>
<arg name="enable_wind_plugin" value="$(arg enable_wind_plugin)"/>
<arg name="enable_laser1D" value="$(arg enable_laser1D)"/>
<arg name="enable_imu" value="$(arg enable_imu)"/>
</include>
</group>

<!-- Launch Bebop_3 -->
<group ns="bebop_3">
<include file="$(find bebop_simulator)/launch/spawn_bebop.launch">
<arg name="name" value="$(arg name)3" />
<arg name="x" value="0"/>
<arg name="y" value="-0.63661977"/>
<arg name="z" value="$(arg z)"/>
<arg name="wind_force" value="$(arg wind_force)"/>
<arg name="wind_start" value="$(arg wind_start)"/>
<arg name="wind_duration" value="$(arg wind_duration)"/>
<arg name="wind_direction_x" value="$(arg wind_direction_x)"/>
<arg name="wind_direction_y" value="$(arg wind_direction_y)"/>
<arg name="wind_direction_z" value="$(arg wind_direction_z)"/>
<!-- The disable_odometry_sensor_with_noise will only become true if enable_odometry_sensor_with_noise will is false.
In this way, only one odometry sensor will be simulated: with or without noise. -->
<arg name="enable_odometry_sensor_with_noise" value="$(arg enable_odometry_sensor_with_noise)"/>
<arg name="disable_odometry_sensor_with_noise" value="$(arg disable_odometry_sensor_with_noise)" />
<arg name="enable_ground_truth_sensor" value="$(arg enable_ground_truth_sensor)"/>
<arg name="enable_wind_plugin" value="$(arg enable_wind_plugin)"/>
<arg name="enable_laser1D" value="$(arg enable_laser1D)"/>
<arg name="enable_imu" value="$(arg enable_imu)"/>
</include>
</group>

</launch>
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