webots_simulator.launch

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<?xml version="1.0"?>
<launch>

  <rosparam param="robot_list">[0, 1]</rosparam>

  <!-- start Webots -->
  <arg name="no-gui" default="false," doc="Start Webots with minimal GUI"/>
  <include file="$(find rosinljubljana)/launch/webots.launch">
    <arg name="mode" value="realtime"/>
    <arg name="no-gui" value="$(arg no-gui)"/>
    <arg name="world" value="$(find rosinljubljana)/worlds/webots_world/worlds/world.wbt"/>
  </include>

  <arg name="auto-close" default="false" doc="Startup mode"/>
  <node name="camera_webots" pkg="rosinljubljana" type="camera_webots" required="$(arg auto-close)" output="screen"/>
  <node name="robot_webots" pkg="rosinljubljana" type="robot_webots" output="screen"/>
  <include file="$(find rosinljubljana)/launch/pr2_indiv_no_kinect.launch"></include>

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

  <group ns="robot_1">
    <include file="$(find rosinljubljana)/launch/spawn_robot.launch">
      <arg name="number" value="1"/>
    </include>
  </group>

  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find rosinljubljana)/config/config.rviz"/>
</launch>