gazebo_simulator.launch

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<?xml version="1.0" encoding="UTF-8"?>
<launch>

    <env name="GAZEBO_MODEL_PATH" value="$(find rosinljubljana)/media/models:$(optenv GAZEBO_MODEL_PATH)"/>

    <!-- launch the simulator world -->
    <arg name="debug" default="false"/>
    <arg name="gui" default="true"/>
    <arg name="headless" default="false"/>
    <arg name="pause" default="false"/>
    <arg name="world" default="rosinljubljana_gazebo" />
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" value="$(find rosinljubljana)/worlds/$(arg world).world"/>
        <arg name="debug" value="$(arg debug)" />
        <arg name="gui" value="$(arg gui)" />
        <arg name="paused" value="$(arg pause)"/>
        <arg name="use_sim_time" value="true"/>
        <arg name="headless" value="$(arg headless)"/>
        <arg name="verbose" value="true"/>
    </include>

    <param name="/use_sim_time" value="true"/>

    <!-- SPAWN ROBOTS -->
    <group ns="robot_0">
        <include file="$(find rosinljubljana)/launch/spawn_robot_gazebo.launch">
            <arg name="number" value="0"/>
            <arg name="x" value="0.0"/>
            <arg name="y" value="-0.0"/>
            <arg name="yaw" value="0.0"/>
        </include>
    </group>

  <group ns="robot_4">
    <include file="$(find rosinljubljana)/launch/spawn_robot_gazebo.launch">
        <arg name="number" value="4"/>
        <arg name="x" value="0.5"/>
        <arg name="y" value="-0.0"/>
        <arg name="yaw" value="0.0"/>
    </include>
    </group>

    <!-- spawn the camera -->
    <param name="camera_description" command="$(find xacro)/xacro.py '$(find rosinljubljana)/urdf/camera.xacro'" />
    <node name="urdf_camera_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" args="-urdf -model camera -param camera_description"/>

    <node pkg="tf" type="static_transform_publisher" name="publisher_camera_map" args="0 0 3.38 1. 0 0 0.0000013 map camera_link 100" />
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find rosinljubljana)/config/config.rviz"/>

    <rosparam param="robot_list">[0, 4]</rosparam>

   <node name="robot" pkg="rosinljubljana" type="robot" output="screen"/>

  <include file="$(find rosinljubljana)/launch/pr2_indiv_no_kinect.launch" output="screen"></include>


</launch>