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Custom xacro path option #36

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26 changes: 15 additions & 11 deletions summit_xl_gazebo/launch/summit_xl_gazebo.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,6 @@
<arg name="launch_robot_a" default="true"/>
<arg name="launch_robot_b" default="false"/>
<arg name="launch_robot_c" default="false"/>
<arg name="default_xacro_package" default="summit_xl_description"/>
<arg name="default_xacro" default="summit_xl_std.urdf.xacro"/>
<arg name="gazebo_world" default="$(find summit_xl_gazebo)/worlds/summit_xl_office.world"/>
<arg name="gazebo_gui" default="true"/>
<arg name="map_file" default="willow_garage/willow_garage.yaml"/>
Expand All @@ -34,8 +32,9 @@
<arg name="move_base_robot_a" default="false"/>
<arg name="amcl_and_mapserver_a" default="false"/>
<arg name="map_file_a" default="$(arg map_file)"/>
<arg name="xacro_robot_package_a" default="$(arg default_xacro_package)"/>
<arg name="xacro_robot_a" default="$(arg default_xacro)"/>
<arg name="xacro_robot_a" default="summit_xl_std.urdf.xacro"/>
<arg name="use_custom_xacro_path_robot_a" default="false"/>
<arg name="custom_xacro_path_robot_a" default="/home/robot/"/>
<arg name="launch_pad_a" default="false"/>
<arg name="gps_latitude_robot_a" default="39.5080331"/>
<arg name="gps_longitude_robot_a" default="-0.4619816"/>
Expand All @@ -57,8 +56,9 @@
<arg name="move_base_robot_b" default="false"/>
<arg name="amcl_and_mapserver_b" default="false"/>
<arg name="map_file_b" default="$(arg map_file)"/>
<arg name="xacro_robot_package_b" default="$(arg default_xacro_package)"/>
<arg name="xacro_robot_b" default="$(arg default_xacro)"/>
<arg name="xacro_robot_b" default="summit_xl_std.urdf.xacro"/>
<arg name="use_custom_xacro_path_robot_b" default="false"/>
<arg name="custom_xacro_path_robot_b" default="/home/robot/"/>
<arg name="launch_pad_b" default="false"/>
<arg name="gps_latitude_robot_b" default="39.5080331"/>
<arg name="gps_longitude_robot_b" default="-0.4619816"/>
Expand All @@ -80,8 +80,9 @@
<arg name="move_base_robot_c" default="false"/>
<arg name="amcl_and_mapserver_c" default="false"/>
<arg name="map_file_c" default="$(arg map_file)"/>
<arg name="xacro_robot_package_c" default="$(arg default_xacro_package)"/>
<arg name="xacro_robot_c" default="$(arg default_xacro)"/>
<arg name="xacro_robot_c" default="summit_xl_std.urdf.xacro"/>
<arg name="use_custom_xacro_path_robot_c" default="false"/>
<arg name="custom_xacro_path_robot_c" default="/home/robot/"/>
<arg name="launch_pad_c" default="false"/>
<arg name="gps_latitude_robot_c" default="39.5080331"/>
<arg name="gps_longitude_robot_c" default="-0.4619816"/>
Expand All @@ -98,8 +99,9 @@
<arg name="x_init_pose" value="$(arg x_init_pose_robot_a)"/>
<arg name="y_init_pose" value="$(arg y_init_pose_robot_a)"/>
<arg name="z_init_pose" value="$(arg z_init_pose_robot_a)"/>
<arg name="xacro_robot_package" value="$(arg xacro_robot_package_a)"/>
<arg name="xacro_robot" value="$(arg xacro_robot_a)"/>
<arg name="use_custom_xacro_path_robot" value="$(arg use_custom_xacro_path_robot_a)"/>
<arg name="custom_xacro_path_robot" value="$(arg custom_xacro_path_robot_a)"/>
<arg name="launch_robot_ekf_localization" value="$(arg ekf_localization_robot_a)"/>
<arg name="robot_ekf_localization_mode" value="$(arg ekf_localization_mode_a)"/>
<arg name="launch_amcl_and_mapserver" value="$(arg amcl_and_mapserver_a)"/>
Expand Down Expand Up @@ -128,8 +130,9 @@
<arg name="x_init_pose" value="$(arg x_init_pose_robot_b)"/>
<arg name="y_init_pose" value="$(arg y_init_pose_robot_b)"/>
<arg name="z_init_pose" value="$(arg z_init_pose_robot_b)"/>
<arg name="xacro_robot_package" value="$(arg xacro_robot_package_b)"/>
<arg name="xacro_robot" value="$(arg xacro_robot_b)"/>
<arg name="use_custom_xacro_path_robot" value="$(arg use_custom_xacro_path_robot_b)"/>
<arg name="custom_xacro_path_robot" value="$(arg custom_xacro_path_robot_b)"/>
<arg name="launch_robot_ekf_localization" value="$(arg ekf_localization_robot_b)"/>
<arg name="robot_ekf_localization_mode" value="$(arg ekf_localization_mode_b)"/>
<arg name="launch_amcl_and_mapserver" value="$(arg amcl_and_mapserver_b)"/>
Expand Down Expand Up @@ -159,8 +162,9 @@
<arg name="x_init_pose" value="$(arg x_init_pose_robot_c)"/>
<arg name="y_init_pose" value="$(arg y_init_pose_robot_c)"/>
<arg name="z_init_pose" value="$(arg z_init_pose_robot_c)"/>
<arg name="xacro_robot_package" value="$(arg xacro_robot_package_c)"/>
<arg name="xacro_robot" value="$(arg xacro_robot_c)"/>
<arg name="use_custom_xacro_path_robot" value="$(arg use_custom_xacro_path_robot_c)"/>
<arg name="custom_xacro_path_robot" value="$(arg custom_xacro_path_robot_c)"/>
<arg name="launch_robot_ekf_localization" value="$(arg ekf_localization_robot_c)"/>
<arg name="robot_ekf_localization_mode" value="$(arg ekf_localization_mode_c)"/>
<arg name="launch_amcl_and_mapserver" value="$(arg amcl_and_mapserver_c)"/>
Expand Down
38 changes: 27 additions & 11 deletions summit_xl_gazebo/launch/summit_xl_one_robot.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,10 @@
<arg name="x_init_pose" default="0"/>
<arg name="y_init_pose" default="0"/>
<arg name="z_init_pose" default="0"/>
<arg name="xacro_robot_package" default="summit_xl_description"/>
<arg name="xacro_robot" default="summit_xl_std.urdf.xacro"/>
<arg name="xacro_robot_path" default="$(eval find(xacro_robot_package) + '/robots/' + xacro_robot)"/>
<arg name="xacro_robot_path" default="$(find summit_xl_description)/robots/"/>
<arg name="use_custom_xacro_path_robot" default="false"/>
<arg name="custom_xacro_path_robot" default="/home/robot/"/>
<arg name="launch_amcl_and_mapserver" default="false"/>
<arg name="launch_gmapping" default="false"/>
<arg name="launch_move_base" default="false"/>
Expand Down Expand Up @@ -52,15 +53,30 @@
<group ns="$(arg id_robot)">

<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description" command="$(find xacro)/xacro '$(arg xacro_robot_path)'
prefix:=$(arg prefix)
ros_planar_move_plugin:=$(arg ros_planar_move_plugin)
ros_planar_move_plugin_force_based:=$(arg ros_planar_move_plugin_force_based)
omni_wheels:=$(arg omni_drive)
gpu:=$(arg use_gpu_for_simulation)
gps_latitude:='$(arg gps_latitude)'
gps_longitude:='$(arg gps_longitude)'
--inorder"/>
<group unless="$(arg use_custom_xacro_path_robot)" >
<param name="robot_description" command="$(find xacro)/xacro '$(arg xacro_robot_path)$(arg xacro_robot)'
prefix:=$(arg prefix)
ros_planar_move_plugin:=$(arg ros_planar_move_plugin)
ros_planar_move_plugin_force_based:=$(arg ros_planar_move_plugin_force_based)
omni_wheels:=$(arg omni_drive)
gpu:=$(arg use_gpu_for_simulation)
gps_latitude:='$(arg gps_latitude)'
gps_longitude:='$(arg gps_longitude)'
--inorder"/>
</group>

<group if="$(arg use_custom_xacro_path_robot)" >
<param name="robot_description" command="$(find xacro)/xacro '$(arg custom_xacro_path_robot)$(arg xacro_robot)'
prefix:=$(arg prefix)
ros_planar_move_plugin:=$(arg ros_planar_move_plugin)
ros_planar_move_plugin_force_based:=$(arg ros_planar_move_plugin_force_based)
omni_wheels:=$(arg omni_drive)
gpu:=$(arg use_gpu_for_simulation)
gps_latitude:='$(arg gps_latitude)'
gps_longitude:='$(arg gps_longitude)'
--inorder"/>
</group>


<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
<remap from="/joint_states" to="joint_states" />
Expand Down
17 changes: 15 additions & 2 deletions summit_xl_sim_bringup/launch/summit_xl_complete.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,9 @@
<arg name="gazebo_world" default="$(find summit_xl_gazebo)/worlds/summit_xl_office.world"/>
<arg name="gazebo_gui" default="true"/>
<arg name="omni_drive" default="false"/>
<arg name="default_xacro" default="summit_xl_std.urdf.xacro"/>
<arg name="default_xacro" default="$(optenv ROBOT_XACRO summit_xl_std.urdf.xacro)"/>
<arg name="use_custom_xacro_path" default="$(optenv ROBOT_USE_CUSTOM_XACRO_PATH false)"/>
<arg name="custom_xacro_path" default="$(optenv ROBOT_CUSTOM_XACRO_PATH /home/robot/)"/>
<arg if="$(arg omni_drive)" name="ros_planar_move_plugin" value="true"/>
<arg unless="$(arg omni_drive)" name="ros_planar_move_plugin" default="true"/>
<arg name="ros_planar_move_plugin_force_based" default="false"/>
Expand All @@ -21,6 +23,8 @@
<arg name="id_robot_a" default="robot"/>
<arg name="launch_robot_a" default="true"/>
<arg name="xacro_robot_a" default="$(arg default_xacro)"/>
<arg name="use_custom_xacro_path_robot_a" default="$(arg use_custom_xacro_path)"/>
<arg name="custom_xacro_path_robot_a" default="$(arg custom_xacro_path)"/>
<arg name="map_file_a" default="willow_garage/willow_garage.yaml"/>
<arg name="gmapping_robot_a" default="false"/>
<arg name="move_base_robot_a" default="true"/>
Expand All @@ -40,6 +44,8 @@
<arg name="id_robot_b" default="robot_b"/>
<arg name="launch_robot_b" default="false"/>
<arg name="xacro_robot_b" default="$(arg default_xacro)"/>
<arg name="use_custom_xacro_path_robot_b" default="$(arg use_custom_xacro_path)"/>
<arg name="custom_xacro_path_robot_b" default="$(arg custom_xacro_path)"/>
<arg name="map_file_b" default="willow_garage/willow_garage.yaml"/>
<arg name="gmapping_robot_b" default="false"/>
<arg name="move_base_robot_b" default="false"/>
Expand All @@ -59,6 +65,8 @@
<arg name="id_robot_c" default="robot_c"/>
<arg name="launch_robot_c" default="false"/>
<arg name="xacro_robot_c" default="$(arg default_xacro)"/>
<arg name="use_custom_xacro_path_robot_c" default="$(arg use_custom_xacro_path)"/>
<arg name="custom_xacro_path_robot_c" default="$(arg custom_xacro_path)"/>
<arg name="map_file_c" default="willow_garage/willow_garage.yaml"/>
<arg name="gmapping_robot_c" default="false"/>
<arg name="move_base_robot_c" default="false"/>
Expand All @@ -80,7 +88,6 @@
<arg name="gazebo_world" value="$(arg gazebo_world)"/>
<arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
<arg name="omni_drive" value="$(arg omni_drive)"/>
<arg name="default_xacro" value="$(arg default_xacro)"/>
<arg name="ros_planar_move_plugin" value="$(arg ros_planar_move_plugin)"/>
<arg name="ros_planar_move_plugin_force_based" value="$(arg ros_planar_move_plugin_force_based)" />
<arg name="launch_advanced_simulation" value="$(arg launch_advanced_simulation)"/>
Expand All @@ -89,6 +96,8 @@
<arg name="id_robot_a" value="$(arg id_robot_a)"/>
<arg name="launch_robot_a" value="$(arg launch_robot_a)"/>
<arg name="xacro_robot_a" value="$(arg xacro_robot_a)"/>
<arg name="use_custom_xacro_path_robot_a" value="$(arg use_custom_xacro_path_robot_a)"/>
<arg name="custom_xacro_path_robot_a" value="$(arg custom_xacro_path_robot_a)"/>
<arg name="map_file_a" value="$(arg map_file_a)"/>
<arg name="gmapping_robot_a" value="$(arg gmapping_robot_a)"/>
<arg name="move_base_robot_a" value="$(arg move_base_robot_a)"/>
Expand All @@ -107,6 +116,8 @@
<arg name="id_robot_b" value="$(arg id_robot_b)"/>
<arg name="launch_robot_b" value="$(arg launch_robot_b)"/>
<arg name="xacro_robot_b" value="$(arg xacro_robot_b)"/>
<arg name="use_custom_xacro_path_robot_b" value="$(arg use_custom_xacro_path_robot_b)"/>
<arg name="custom_xacro_path_robot_b" value="$(arg custom_xacro_path_robot_b)"/>
<arg name="gmapping_robot_b" value="$(arg gmapping_robot_b)"/>
<arg name="move_base_robot_b" value="$(arg move_base_robot_b)"/>
<arg name="ekf_localization_robot_b" value="$(arg ekf_localization_robot_b)"/>
Expand All @@ -125,6 +136,8 @@
<arg name="id_robot_c" value="$(arg id_robot_c)"/>
<arg name="launch_robot_c" value="$(arg launch_robot_c)"/>
<arg name="xacro_robot_c" value="$(arg xacro_robot_c)"/>
<arg name="use_custom_xacro_path_robot_c" value="$(arg use_custom_xacro_path_robot_c)"/>
<arg name="custom_xacro_path_robot_c" value="$(arg custom_xacro_path_robot_c)"/>
<arg name="gmapping_robot_c" value="$(arg gmapping_robot_c)"/>
<arg name="move_base_robot_c" value="$(arg move_base_robot_c)"/>
<arg name="ekf_localization_robot_c" value="$(arg ekf_localization_robot_c)"/>
Expand Down
16 changes: 15 additions & 1 deletion summit_xl_sim_bringup/launch/summit_xl_gen_complete.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,9 @@
<arg name="launch_rviz" default="true"/>
<arg name="gazebo_world" default="$(find summit_xl_gazebo)/worlds/summit_xl_office.world"/>
<arg name="omni_drive" default="false"/>
<arg name="default_xacro" default="summit_xl_gen_std.urdf.xacro"/>
<arg name="default_xacro" default="$(optenv ROBOT_XACRO summit_xl_gen_std.urdf.xacro)"/>
<arg name="use_custom_xacro_path" default="$(optenv ROBOT_USE_CUSTOM_XACRO_PATH false)"/>
<arg name="custom_xacro_path" default="$(optenv ROBOT_CUSTOM_XACRO_PATH /home/robot/)"/>
<arg if="$(arg omni_drive)" name="ros_planar_move_plugin" value="true"/>
<arg unless="$(arg omni_drive)" name="ros_planar_move_plugin" default="true"/>
<arg name="ros_planar_move_plugin_force_based" default="false"/>
Expand All @@ -17,6 +19,8 @@
<arg name="id_robot_a" default="robot"/>
<arg name="launch_robot_a" default="true"/>
<arg name="xacro_robot_a" default="$(arg default_xacro)"/>
<arg name="use_custom_xacro_path_robot_a" default="$(arg use_custom_xacro_path)"/>
<arg name="custom_xacro_path_robot_a" default="$(arg custom_xacro_path)"/>
<arg name="map_file_a" default="willow_garage/willow_garage.yaml"/>
<arg name="gmapping_robot_a" default="false"/>
<arg name="move_base_robot_a" default="false"/>
Expand All @@ -33,6 +37,8 @@
<arg name="id_robot_b" default="robot_b"/>
<arg name="launch_robot_b" default="false"/>
<arg name="xacro_robot_b" default="$(arg default_xacro)"/>
<arg name="use_custom_xacro_path_robot_b" default="$(arg use_custom_xacro_path)"/>
<arg name="custom_xacro_path_robot_b" default="$(arg custom_xacro_path)"/>
<arg name="map_file_b" default="willow_garage/willow_garage.yaml"/>
<arg name="gmapping_robot_b" default="false"/>
<arg name="move_base_robot_b" default="false"/>
Expand All @@ -49,6 +55,8 @@
<arg name="id_robot_c" default="robot_c"/>
<arg name="launch_robot_c" default="false"/>
<arg name="xacro_robot_c" default="$(arg default_xacro)"/>
<arg name="use_custom_xacro_path_robot_c" default="$(arg use_custom_xacro_path)"/>
<arg name="custom_xacro_path_robot_c" default="$(arg custom_xacro_path)"/>
<arg name="map_file_c" default="willow_garage/willow_garage.yaml"/>
<arg name="gmapping_robot_c" default="false"/>
<arg name="move_base_robot_c" default="false"/>
Expand All @@ -75,6 +83,8 @@
<arg name="id_robot_a" value="$(arg id_robot_a)"/>
<arg name="launch_robot_a" value="$(arg launch_robot_a)"/>
<arg name="xacro_robot_a" value="$(arg xacro_robot_a)"/>
<arg name="use_custom_xacro_path_robot_a" value="$(arg use_custom_xacro_path_robot_a)"/>
<arg name="custom_xacro_path_robot_a" value="$(arg custom_xacro_path_robot_a)"/>
<arg name="map_file_a" value="$(arg map_file_a)"/>
<arg name="gmapping_robot_a" value="$(arg gmapping_robot_a)"/>
<arg name="move_base_robot_a" value="$(arg move_base_robot_a)"/>
Expand All @@ -90,6 +100,8 @@
<arg name="id_robot_b" value="$(arg id_robot_b)"/>
<arg name="launch_robot_b" value="$(arg launch_robot_b)"/>
<arg name="xacro_robot_b" value="$(arg xacro_robot_b)"/>
<arg name="use_custom_xacro_path_robot_b" value="$(arg use_custom_xacro_path_robot_b)"/>
<arg name="custom_xacro_path_robot_b" value="$(arg custom_xacro_path_robot_b)"/>
<arg name="gmapping_robot_b" value="$(arg gmapping_robot_b)"/>
<arg name="move_base_robot_b" value="$(arg move_base_robot_b)"/>
<arg name="amcl_and_mapserver_b" value="$(arg amcl_and_mapserver_b)"/>
Expand All @@ -105,6 +117,8 @@
<arg name="id_robot_c" value="$(arg id_robot_c)"/>
<arg name="launch_robot_c" value="$(arg launch_robot_c)"/>
<arg name="xacro_robot_c" value="$(arg xacro_robot_c)"/>
<arg name="use_custom_xacro_path_robot_c" value="$(arg use_custom_xacro_path_robot_c)"/>
<arg name="custom_xacro_path_robot_c" value="$(arg custom_xacro_path_robot_c)"/>
<arg name="gmapping_robot_c" value="$(arg gmapping_robot_c)"/>
<arg name="move_base_robot_c" value="$(arg move_base_robot_c)"/>
<arg name="amcl_and_mapserver_c" value="$(arg amcl_and_mapserver_c)"/>
Expand Down
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