spawn_robot_gazebo.launch

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<?xml version="1.0" encoding="UTF-8"?>
<launch>
  <param name ="/use_sim_time" value="true"/>
  <arg name="model" default="robot"/>
  <arg name="number" default="0"/>
  <arg name="x" default="0.0"/>
  <arg name="y" default="0.0"/>
  <arg name="z" default="0.01"/>
  <arg name="roll" default="0"/>
  <arg name="pitch" default="0"/>
  <arg name="yaw" default="0"/>
  <!-- SPAWN ROBOT -->
  <param name="robot_description" command="$(find xacro)/xacro '$(find rosinljubljana)/urdf/$(arg model).xacro' number:=$(arg number)"/>
  <node name="robot_spawn" pkg="gazebo_ros" type="spawn_model" output="screen" args="-urdf -param robot_description -model $(arg number) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg roll) -P $(arg pitch) -Y $(arg yaw)"/>

  <!-- 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>
  -->

  <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="false"/>
    <param name="debug_out_file" value="/home/igor/Documents/rosinljubljana_ws/src/rosinljubljana/log/debug"/>

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

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

    <param name="odom0" value="/robot_$(arg number)/odom_gazebo"/>

    <rosparam param="odom0_config">[false, false, false,
                                    false, false, false,
                                    true, true, false,
                                    false, false, 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_gazebo"/>

    <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"/>

    <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>