Multi-turtlebot3-simulation

edit

HI , all

I am newbie . I want to add a swarm of turtlebot3(burger or waffle) in gazebo to simulate advanced control .

I used the method as the follwing website :

[ http://turtlebot3.readthedocs.io/en/l... ]

Because turtlebot3_empty_world.launch file only spawn a turtlebot in gazebo , i tried to modify the launch file :

<launch>
<group ns="turtlebot1">
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle]"/>
<arg name="x_pos" default="0.0"/>
<arg name="y_pos" default="0.0"/>
<arg name="z_pos" default="0.0"/>


<param name="robot_description" command="$(find xacro)/xacro.py $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />

<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model turtlebot3_burger -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />
</group>

<group ns="turtlebot2">
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle]"/>
<arg name="x_pos" default="5.0"/>
<arg name="y_pos" default="5.0"/>
<arg name="z_pos" default="5.0"/>


 <param name="robot_description" command="$(find xacro)/xacro.py $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />

 <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model turtlebot3_burger -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />
  </group>

<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find turtlebot3_gazebo)/models/empty.world"/>
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="true"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
</include>
</launch>

It dosent work !!

Dose someone have any idea?

Thanks!!