spawn_robot.launch

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<?xml version="1.0" encoding="UTF-8"?>
<launch>
  <arg name="number" default="0"/>
  <node pkg="tf" type="static_transform_publisher" name="publisher_map_map" args="0 0 0 0 0 0  map robot_$(arg number)/map 100" />
  <node pkg="tf" type="static_transform_publisher" name="publisher_odom_map" args="0 0 0 0 0 0  robot_$(arg number)/map robot_$(arg number)/odom 100" />

  <!-- move_base node -->
  <!-- MELODIC   -->

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" >
    <rosparam file="$(find rosinljubljana)/config/costmap_common_params.yaml" command="load" ns="global_costmap"/>
    <param name="global_costmap/scan/sensor_frame" type="str" value="robot_$(arg number)/base_link"/>
    <param name="global_costmap/scan/topic" type="str" value="/robot_$(arg number)/LaserScan"/>

    <rosparam file="$(find rosinljubljana)/config/costmap_common_params.yaml" command="load" ns="local_costmap"/>
    <param name="local_costmap/scan/sensor_frame" type="str" value="robot_$(arg number)/base_link"/>
    <param name="local_costmap/scan/topic" type="str" value="/robot_$(arg number)/LaserScan"/>

    <rosparam file="$(find rosinljubljana)/config/local_costmap_params.yaml" command="load"/>
    <param name="local_costmap/global_frame" type="str" value="robot_$(arg number)/odom"/>
    <param name="local_costmap/robot_base_frame" type="str" value="robot_$(arg number)/base_link"/>

    <rosparam file="$(find rosinljubljana)/config/global_costmap_params.yaml" command="load"/>
    <param name="global_costmap/global_frame" type="str" value="robot_$(arg number)/map" />
    <param name="global_costmap/robot_base_frame" type="str" value="robot_$(arg number)/base_link"/>

    <rosparam file="$(find rosinljubljana)/config/base_local_planner_params.yaml" command="load"/>

    <rosparam file="$(find rosinljubljana)/config/move_base_params.yaml" command="load"/>
    <remap from="/robot_$(arg number)/map" to="/map"/>
  </node>

<!-- KINETIC   -->
<!--
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
    <rosparam file="$(find rosinljubljana)/config/costmap_common_params.yaml" command="load" ns="global_costmap"/>
    <param name="global_costmap/scan/sensor_frame" type="str" value="/robot_$(arg number)/base_link"/>
    <param name="global_costmap/scan/topic" type="str" value="/robot_$(arg number)/LaserScan"/>

    <rosparam file="$(find rosinljubljana)/config/costmap_common_params.yaml" command="load" ns="local_costmap"/>
    <param name="local_costmap/scan/sensor_frame" type="str" value="/robot_$(arg number)/base_link"/>
    <param name="local_costmap/scan/topic" type="str" value="/robot_$(arg number)/LaserScan"/>

    <rosparam file="$(find rosinljubljana)/config/local_costmap_params.yaml" command="load"/>
    <param name="local_costmap/global_frame" type="str" value="/robot_$(arg number)/odom"/>
    <param name="local_costmap/robot_base_frame" type="str" value="/robot_$(arg number)/base_link"/>

    <rosparam file="$(find rosinljubljana)/config/global_costmap_params.yaml" command="load"/>
    <param name="global_costmap/global_frame" type="str" value="/robot_$(arg number)/map" />
    <param name="global_costmap/robot_base_frame" type="str" value="/robot_$(arg number)/base_link"/>

    <rosparam file="$(find rosinljubljana)/config/base_local_planner_params.yaml" command="load"/>

    <rosparam file="$(find rosinljubljana)/config/move_base_params.yaml" command="load"/>
    <remap from="/robot_$(arg number)/map" to="/map"/>
  </node>
-->

<!-- ROBOT LOCALIZATION-->
  <node pkg="robot_localization" type="ekf_localization_node" name="ekf_se" clear_params="true" >
    <param name="frequency" value="30"/>
    <param name="sensor_timeout" value="10"/>
    <param name="tf_prefix" value="robot_$(arg number)"/>

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

    <param name="debug" value="true"/>
    <param name="debug_out_file" value="/home/robot_control/Igor/rosinljubljana_ws/src/rosinljubljana/log/debug"/>

    <param name="publish_tf" value="false"/>

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


    <param name="twist0" value="/robot_$(arg number)/twist_beagle"/>

    <rosparam param="twist0_config">[true, true, true,
                                    false, false, true,
                                    true, true, true,
                                    true, true, true,
                                    false, false, false]</rosparam>


    <param name="pose0" value="/robot_$(arg number)/pose_alvar"/>

    <rosparam param="pose0_config">[true, true, false,
                                    false, false, true,
                                    false, false, false,
                                    false, false, false,
                                    false, false, false]</rosparam>



    <param name="imu0" value="/robot_$(arg number)/imu_beagle"/>

    <rosparam param="imu0_config">[false, false, false,
                                    false, false, false,
                                    false, false, false,
                                    false, false, true,
                                    true, true, false]</rosparam>

    <param name="imu0_relative" value="true"/>
    <param name="imu0_differential" value="true"/>


    <rosparam param="initial_state">[0,  0.0,  0.0,
                                 0.0,  0.0,  0,
                                 0.0,  0.0,  0.0,
                                 0.0,  0.0,  0.0,
                                 0.0,  0.0,  0.0]</rosparam>

    <remap from="odometry/filtered" to="ekf_odom"/>
  </node>
</launch>