From 7e3db5486449f6a8efaa84426bc87fdc976291c4 Mon Sep 17 00:00:00 2001
From: tanacchi <q111026d@mail.kyutech.jp>
Date: Tue, 10 Mar 2020 19:00:08 +0900
Subject: [PATCH] Add and Send params of init pos of robots

---
 rois_bringup/launch/navigation.launch  | 18 ++++++++++++++++
 rois_gazebo/launch/setup_gazebo.launch | 30 ++++++++++++++++++++------
 2 files changed, 42 insertions(+), 6 deletions(-)

diff --git a/rois_bringup/launch/navigation.launch b/rois_bringup/launch/navigation.launch
index ae2601d5..98a3dedf 100644
--- a/rois_bringup/launch/navigation.launch
+++ b/rois_bringup/launch/navigation.launch
@@ -44,6 +44,24 @@
     <arg
       name="world_name"
       value="$(find rois_description)/world/$(arg world_name).sdf" />
+    <arg
+      name="robot1_init_x"
+      default="$(arg robot1_init_x)" />
+    <arg
+      name="robot1_init_y"
+      default="$(arg robot1_init_y)" />
+    <arg
+      name="robot2_init_x"
+      default="$(arg robot2_init_x)" />
+    <arg
+      name="robot2_init_y"
+      default="$(arg robot2_init_y)" />
+    <arg
+      name="robot3_init_x"
+      default="$(arg robot3_init_x)" />
+    <arg
+      name="robot3_init_y"
+      default="$(arg robot3_init_y)" />
   </include>
 
   <group ns="robot1">
diff --git a/rois_gazebo/launch/setup_gazebo.launch b/rois_gazebo/launch/setup_gazebo.launch
index 99fb925a..c144292c 100644
--- a/rois_gazebo/launch/setup_gazebo.launch
+++ b/rois_gazebo/launch/setup_gazebo.launch
@@ -8,6 +8,24 @@
   <arg
     name="use_multi_robot"
     default="true" />
+  <arg
+    name="robot1_init_x"
+    default="0" />
+  <arg
+    name="robot1_init_y"
+    default="0" />
+  <arg
+    name="robot2_init_x"
+    default="10" />
+  <arg
+    name="robot2_init_y"
+    default="0" />
+  <arg
+    name="robot3_init_x"
+    default="0" />
+  <arg
+    name="robot3_init_y"
+    default="10" />
 
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg 
@@ -21,10 +39,10 @@
       value="robot1"/>
     <arg
       name="init_x"
-      value="0" />
+      value="$(arg robot1_init_x)" />
     <arg
       name="init_y"
-      value="0" />
+      value="$(arg robot1_init_y)" />
   </include>
 
   <group if="$(arg use_multi_robot)">
@@ -34,10 +52,10 @@
         value="robot2"/>
       <arg
         name="init_x"
-        value="10" />
+        value="$(arg robot2_init_x)" />
       <arg
         name="init_y"
-        value="0" />
+        value="$(arg robot2_init_y)" />
     </include>
 
     <include file="$(find rois_gazebo)/launch/spawn_model.launch">
@@ -46,10 +64,10 @@
         value="robot3"/>
       <arg
         name="init_x"
-        value="0" />
+        value="$(arg robot3_init_x)" />
       <arg
         name="init_y"
-        value="10" />
+        value="$(arg robot3_init_y)" />
     </include>
   </group>
 
-- 
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