Fix multiturtlebot simulation (#134)

* Fix multitturtlebot simulation

* Fix style to maintaint linter guidelines

---------

Co-authored-by: Eduard Rius <erius@leitat.org>

ff_examples_ros1/launch/include/multi_turtlebot3.launch

@@ -0,0 +1,64 @@
+<launch>
+  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
+  <arg name="first_tb3"  default="tb3_0"/>
+  <arg name="second_tb3" default="tb3_1"/>
+  <arg name="third_tb3"  default="tb3_2"/>
+
+  <arg name="first_tb3_x_pos" default="-7.0"/>
+  <arg name="first_tb3_y_pos" default="-1.0"/>
+  <arg name="first_tb3_z_pos" default=" 0.0"/>
+  <arg name="first_tb3_yaw"   default=" 1.57"/>
+
+  <arg name="second_tb3_x_pos" default=" 7.0"/>
+  <arg name="second_tb3_y_pos" default="-1.0"/>
+  <arg name="second_tb3_z_pos" default=" 0.0"/>
+  <arg name="second_tb3_yaw"   default=" 1.57"/>
+
+  <arg name="third_tb3_x_pos" default=" 0.5"/>
+  <arg name="third_tb3_y_pos" default=" 3.0"/>
+  <arg name="third_tb3_z_pos" default=" 0.0"/>
+  <arg name="third_tb3_yaw"   default=" 0.0"/>
+
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_house.world"/>
+    <arg name="paused" value="false"/>
+    <arg name="use_sim_time" value="true"/>
+    <arg name="gui" value="true"/>
+    <arg name="headless" value="false"/>
+    <arg name="debug" value="false"/>
+  </include>  
+
+  <group ns = "$(arg first_tb3)">
+    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
+
+    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
+      <param name="publish_frequency" type="double" value="50.0" />
+      <param name="tf_prefix" value="$(arg first_tb3)" />
+    </node>
+    <param name="tf_prefix" value="$(arg first_tb3)" />
+    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" 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="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
+      <param name="publish_frequency" type="double" value="50.0" />
+      <param name="tf_prefix" value="$(arg second_tb3)" />
+    </node>
+    <param name="tf_prefix" value="$(arg second_tb3)" />
+    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" 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="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
+      <param name="publish_frequency" type="double" value="50.0" />
+      <param name="tf_prefix" value="$(arg third_tb3)" />
+    </node>
+    <param name="tf_prefix" value="$(arg third_tb3)" />
+    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" 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>
+
+</launch>

ff_examples_ros1/launch/multi_turtlebot3_ff.launch

@@ -3,7 +3,7 @@
   <arg name="set_map_frame"  default="map"/>
 
   <!-- launches the basic multi turtlebot3 world -->
-  <include file="$(find turtlebot3_gazebo)/launch/multi_turtlebot3.launch">
+  <include file="$(find ff_examples_ros1)/launch/include/multi_turtlebot3.launch">
     <arg name="model" value="$(arg model)"/>
   </include>