多机器人Gazebo仿真

发布： 2022年1月4日 • 经验百科

cd ~/catkin_ws/src/turtlebot3_simulations/turtlebot3_gazebo/launch/

sudo vim multi_turtlebot3_empty_world.launch

内容如下：　

<launch>
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>

  <arg name="first_tb3"  default="tb3_0"/>
  <arg name="second_tb3"  default="tb3_1"/>
  <arg name="third_tb3"  default="tb3_2"/>
  <arg name="fourth_tb3"  default="tb3_3"/>

  <arg name="first_tb3_x_pos" default="0.0"/>
  <arg name="first_tb3_y_pos" default="0.0"/>
  <arg name="first_tb3_z_pos" default="0.0"/>
  <arg name="first_tb3_yaw"   default="1.57"/>

  <arg name="second_tb3_x_pos" default="0.0"/>
  <arg name="second_tb3_y_pos" default="0.5"/>
  <arg name="second_tb3_z_pos" default="0.0"/>
  <arg name="second_tb3_yaw"   default="1.57"/>

  <arg name="third_tb3_x_pos" default="0.0"/>
  <arg name="third_tb3_y_pos" default="1.0"/>
  <arg name="third_tb3_z_pos" default="0.0"/>
  <arg name="third_tb3_yaw"   default="1.57"/>

  <arg name="fourth_tb3_x_pos" default="0.0"/>
  <arg name="fourth_tb3_y_pos" default="1.5"/>
  <arg name="fourth_tb3_z_pos" default="0.0"/>
  <arg name="fourth_tb3_yaw"   default="1.57"/>

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/empty.world"/>
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>
  </include>

  <group ns = "$(arg first_tb3)">
    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />

     <node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf"  args="-urdf -model $(arg first_tb3) -x $(arg first_tb3_x_pos) -y $(arg first_tb3_y_pos) -z $(arg first_tb3_z_pos) -Y $(arg first_tb3_yaw) -param robot_description" />
  </group>

  <group ns = "$(arg second_tb3)">
     <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />

     <node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf"  args="-urdf -model $(arg second_tb3) -x $(arg second_tb3_x_pos) -y $(arg second_tb3_y_pos) -z $(arg second_tb3_z_pos) -Y $(arg second_tb3_yaw) -param robot_description" />
  </group>

  <group ns = "$(arg third_tb3)">
    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />

     <node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf"  args="-urdf -model $(arg third_tb3) -x $(arg third_tb3_x_pos) -y $(arg third_tb3_y_pos) -z $(arg third_tb3_z_pos) -Y $(arg third_tb3_yaw) -param robot_description" />
  </group>

  <group ns = "$(arg fourth_tb3)">
    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />

     <node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf"  args="-urdf -model $(arg fourth_tb3) -x $(arg fourth_tb3_x_pos) -y $(arg fourth_tb3_y_pos) -z $(arg fourth_tb3_z_pos) -Y $(arg fourth_tb3_yaw) -param robot_description" />
  </group>
</launch>

测试

roslaunch turtlebot3_gazebo multi_turtlebot3_empty_world.launch

作者：kay
出处：https://www.cnblogs.com/kay2018/
本文版权归作者和博客园共有，欢迎转载，但未经作者同意必须保留此段声明，且在文章页面明显位置给出原文连接，否则保留追究法律责任的权利。
如果文中有什么错误，欢迎指出。以免更多的人被误导。

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多机器人Gazebo仿真

测试

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