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run_sim_swarm.launch
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<launch>
<arg name="map_size_x" value="50.0"/>
<arg name="map_size_y" value="50.0"/>
<arg name="map_size_z" value=" 3.0"/>
<arg name="odom_topic" value="visual_slam/odom" />
<!-- swarm topic transmitter bridge-->
<include file="$(find swarm_bridge)/launch/bridge_udp.launch">
<arg name="drone_id" value="999"/>
<arg name="broadcast_ip" value="127.0.0.255"/>
</include>
<!-- map -->
<node pkg ="map_generator" name ="random_forest" type ="random_forest" output = "screen">
<param name="map/x_size" value="26" />
<param name="map/y_size" value="20" />
<param name="map/z_size" value="3" />
<param name="map/resolution" value="0.1"/>
<param name="ObstacleShape/seed" value="1"/>
<param name="map/obs_num" value="100"/>
<param name="ObstacleShape/lower_rad" value="0.5"/>
<param name="ObstacleShape/upper_rad" value="0.7"/>
<param name="ObstacleShape/lower_hei" value="0.0"/>
<param name="ObstacleShape/upper_hei" value="3.0"/>
<param name="map/circle_num" value="100"/>
<param name="ObstacleShape/radius_l" value="0.7"/>
<param name="ObstacleShape/radius_h" value="0.5"/>
<param name="ObstacleShape/z_l" value="0.7"/>
<param name="ObstacleShape/z_h" value="0.8"/>
<param name="ObstacleShape/theta" value="0.5"/>
<param name="pub_rate" value="1.0"/>
<param name="min_distance" value="0.8"/>
</node>
<include file="$(find diff_planner)/launch/include/run_in_sim.xml">
<arg name="drone_id" value="0"/>
<arg name="init_x" value="-15.0"/>
<arg name="init_y" value="-9.0"/>
<arg name="init_z" value="0.1"/>
<arg name="target0_x" value="15.0"/>
<arg name="target0_y" value="9.0"/>
<arg name="target0_z" value="1"/>
<arg name="map_size_x" value="$(arg map_size_x)"/>
<arg name="map_size_y" value="$(arg map_size_y)"/>
<arg name="map_size_z" value="$(arg map_size_z)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
</include>
<include file="$(find diff_planner)/launch/include/run_in_sim.xml">
<arg name="drone_id" value="1"/>
<arg name="init_x" value="-15.0"/>
<arg name="init_y" value="-7.0"/>
<arg name="init_z" value="0.1"/>
<arg name="target0_x" value="15.0"/>
<arg name="target0_y" value="7.0"/>
<arg name="target0_z" value="1"/>
<arg name="map_size_x" value="$(arg map_size_x)"/>
<arg name="map_size_y" value="$(arg map_size_y)"/>
<arg name="map_size_z" value="$(arg map_size_z)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
</include>
<include file="$(find diff_planner)/launch/include/run_in_sim.xml">
<arg name="drone_id" value="2"/>
<arg name="init_x" value="-15.0"/>
<arg name="init_y" value="-5.0"/>
<arg name="init_z" value="0.1"/>
<arg name="target0_x" value="15.0"/>
<arg name="target0_y" value="5.0"/>
<arg name="target0_z" value="1"/>
<arg name="map_size_x" value="$(arg map_size_x)"/>
<arg name="map_size_y" value="$(arg map_size_y)"/>
<arg name="map_size_z" value="$(arg map_size_z)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
</include>
<include file="$(find diff_planner)/launch/include/run_in_sim.xml">
<arg name="drone_id" value="3"/>
<arg name="init_x" value="-15.0"/>
<arg name="init_y" value="-3.0"/>
<arg name="init_z" value="0.1"/>
<arg name="target0_x" value="15.0"/>
<arg name="target0_y" value="3.0"/>
<arg name="target0_z" value="1"/>
<arg name="map_size_x" value="$(arg map_size_x)"/>
<arg name="map_size_y" value="$(arg map_size_y)"/>
<arg name="map_size_z" value="$(arg map_size_z)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
</include>
<include file="$(find diff_planner)/launch/include/run_in_sim.xml">
<arg name="drone_id" value="4"/>
<arg name="init_x" value="-15.0"/>
<arg name="init_y" value="-1.0"/>
<arg name="init_z" value="0.1"/>
<arg name="target0_x" value="15.0"/>
<arg name="target0_y" value="1.0"/>
<arg name="target0_z" value="1"/>
<arg name="map_size_x" value="$(arg map_size_x)"/>
<arg name="map_size_y" value="$(arg map_size_y)"/>
<arg name="map_size_z" value="$(arg map_size_z)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
</include>
<include file="$(find diff_planner)/launch/include/run_in_sim.xml">
<arg name="drone_id" value="5"/>
<arg name="init_x" value="-15.0"/>
<arg name="init_y" value="1.0"/>
<arg name="init_z" value="0.1"/>
<arg name="target0_x" value="15.0"/>
<arg name="target0_y" value="-1.0"/>
<arg name="target0_z" value="1"/>
<arg name="map_size_x" value="$(arg map_size_x)"/>
<arg name="map_size_y" value="$(arg map_size_y)"/>
<arg name="map_size_z" value="$(arg map_size_z)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
</include>
<include file="$(find diff_planner)/launch/include/run_in_sim.xml">
<arg name="drone_id" value="6"/>
<arg name="init_x" value="-15.0"/>
<arg name="init_y" value="3.0"/>
<arg name="init_z" value="0.1"/>
<arg name="target0_x" value="15.0"/>
<arg name="target0_y" value="-3.0"/>
<arg name="target0_z" value="1"/>
<arg name="map_size_x" value="$(arg map_size_x)"/>
<arg name="map_size_y" value="$(arg map_size_y)"/>
<arg name="map_size_z" value="$(arg map_size_z)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
</include>
<include file="$(find diff_planner)/launch/include/run_in_sim.xml">
<arg name="drone_id" value="7"/>
<arg name="init_x" value="-15.0"/>
<arg name="init_y" value="5.0"/>
<arg name="init_z" value="0.1"/>
<arg name="target0_x" value="15.0"/>
<arg name="target0_y" value="-5.0"/>
<arg name="target0_z" value="1"/>
<arg name="map_size_x" value="$(arg map_size_x)"/>
<arg name="map_size_y" value="$(arg map_size_y)"/>
<arg name="map_size_z" value="$(arg map_size_z)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
</include>
<include file="$(find diff_planner)/launch/include/run_in_sim.xml">
<arg name="drone_id" value="8"/>
<arg name="init_x" value="-15.0"/>
<arg name="init_y" value="7.0"/>
<arg name="init_z" value="0.1"/>
<arg name="target0_x" value="15.0"/>
<arg name="target0_y" value="-7.0"/>
<arg name="target0_z" value="1"/>
<arg name="map_size_x" value="$(arg map_size_x)"/>
<arg name="map_size_y" value="$(arg map_size_y)"/>
<arg name="map_size_z" value="$(arg map_size_z)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
</include>
<include file="$(find diff_planner)/launch/include/run_in_sim.xml">
<arg name="drone_id" value="9"/>
<arg name="init_x" value="-15.0"/>
<arg name="init_y" value="9.0"/>
<arg name="init_z" value="0.1"/>
<arg name="target0_x" value="15.0"/>
<arg name="target0_y" value="-9.0"/>
<arg name="target0_z" value="1"/>
<arg name="map_size_x" value="$(arg map_size_x)"/>
<arg name="map_size_y" value="$(arg map_size_y)"/>
<arg name="map_size_z" value="$(arg map_size_z)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
</include>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find diff_planner)/launch/include/sim.rviz" required="true" />
</launch>