launch.arg = {
"nrovers": str(nrovers),
"F": str(F),
"nbad": str(nbad),
"ngood": str(ngood),
"rover_numbers_list": str(rover_numbers_list),
"radius": str(radius),
"umax": str(umax),
"pi": str(pi),
"ds": str(ds),
"Rs": str(Rs),
"Rc": str(Rc),
"el": str(el)
}
launch.node = []
barrier = ezl.node(name="barrier_node",
output="screen",
pkg="rbf",
type="barrier",
launch_prefix="xterm -e gdb -ex run --args")
barrier.defparam = [
"nrovers", "F", "nbad", "ngood", "rover_numbers_list", "radius", "umax",
"pi", "ds", "Rs", "Rc", "el"
]
launch.node.append(barrier)
launch.write(filename="./2rovers_rbf.launch")
launch.include = []
# include element - empty_world.launch
ew = el.include(file="$(find gazebo_ros)/launch/empty_world.launch")
ew.arg = {
"world_name": "$(find rcomv_uav)/worlds/basic.world",
"paused": "true"
}
launch.include.append(ew)
## Node elements
launch.node = []
switch_node = el.node(launch_prefix="xterm -e",
name="switch_node",
output="screen",
pkg="rcomv_r1",
type="switch")
launch.node.append(switch_node)
msrpa_node = el.node(launch_prefix="xterm -e gdb -ex run --args",
name="msrpa_node",
output="screen",
pkg="rcomv_r1",
type="msrpa_node")
msrpa_node.defparam = [
"n", "k", "F", "eta", "radius", "t0", "xc", "yc", "Rad", "wd", "phi0",
"leng", "psi", "v", "start_L", "common_namespace"
]
array_msrpa = msrpa_node.copy(n)
"z": "0.1",
"rover_number": str(j + 1),
"agent_index": str(j + 1),
"ugv_name": "R" + str(j + 1),
"name_space": "R" + str(j + 1),
"Ri": str(formation_r),
"alphai": str(formation_angle[j])
}
ugv_list[j].arg.update(temp_args)
launch.include += ugv_list
## Node elements
launch.node = []
# switch_node = el.node(launch_prefix="xterm -e", name="switch_node", output="screen", pkg="rcomv_r1", type="switch")
# launch.node.append(switch_node)
builder_node = el.node(name="builder_node",
output="screen",
pkg="state_graph_builder",
type="builder",
launch_prefix="xterm -e gdb -ex run --args")
builder_node.defparam = ["n", "gazebo"]
builder_node.param = {"base_ns": "/R"}
launch.node.append(builder_node)
## Write the file
launch.write(filename="./n_agent_circletraj_circleform.launch")
ew = el.include(file="$(find gazebo_ros)/launch/empty_world.launch")
ew.arg = {
"world_name": "$(find rcomv_r1)/worlds/basic.world",
"paused": "true"
}
launch.include.append(ew)
## Node elements
launch.node = []
# Trucks in a circle!
number_of_trucks = 2
radius = 40
truck = el.node(name="obs", pkg="gazebo_ros", type="spawn_model")
truck_array = truck.copy(number_of_trucks)
args_string = "-file $(find rcomv_r1)/models/pickup/model.sdf -sdf -model "
for i in range(number_of_trucks):
truck_array[i].args = args_string + truck_array[i].name + " -x " + str(
round(radius * cos(i * 2 * pi / number_of_trucks), 2)) + " -y " + str(
round(radius * sin(i * 2 * pi / number_of_trucks), 2))
launch.node += truck_array
## Write the file
# Command line option
if len(sys.argv) > 1:
launchfile_name = sys.argv[
"agent_index": str(j + 1),
"ugv_name": "R" + str(j + 1),
"name_space": "R" + str(j + 1),
"Ri": str(formation_r),
"alphai": str(formation_angle[j])
}
ugv_list[j].arg.update(temp_args)
launch.include += ugv_list
## Node elements
launch.node = []
# Switch node
switch_node = el.node(name="switch_node", pkg="rcomv_r1", type="switch")
launch.node.append(switch_node)
# Ugv nodes
builder_node = el.node(name="builder_node",
pkg="state_graph_builder",
type="builder")
builder_node.defparam = ["n", "gazebo"]
builder_node.param = {"base_ns": "/R"}
launch.node.append(builder_node)
# MS-RPA nodes
msrpa_node = el.node(name="msrpa_node", pkg="rcomv_r1", type="msrpa_node")
msrpa_node.defparam = [
"n", "k", "F", "eta", "radius", "t0", "xc", "yc", "Rad", "wd", "phi0",
"leng", "psi", "v", "start_L", "common_namespace"