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swarm_exploration.launch
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<launch>
<!-- size of map, change the size in x, y, z according to your application -->
<arg name="map_size_x" value="35.0"/>
<arg name="map_size_y" value="35.0"/>
<arg name="map_size_z" value=" 3.5"/>
<!-- Global odom prefix -->
<arg name="odom_prefix" value="/state_ukf/odom" />
<arg name="drone_num" value="5" />
<!-- Map generation -->
<!-- <node pkg ="map_generator" name ="map_pub" type ="map_pub" output = "screen" args="$(find map_generator)/resource/office.pcd">
</node> -->
<node pkg ="map_generator" name ="map_pub" type ="map_pub" output = "screen" args="$(find map_generator)/resource/pillar.pcd">
</node>
<include file="$(find exploration_manager)/launch/single_drone_exploration.xml">
<arg name="drone_id" value="1"/>
<arg name="init_x" value="0"/>
<arg name="init_y" value="0"/>
<arg name="init_z" value="1"/>
<arg name="map_size_x" value="$(arg map_size_x)"/>
<arg name="map_size_y" value="$(arg map_size_y)"/>
<arg name="map_size_z" value="$(arg map_size_z)"/>
<arg name="odom_prefix" value="$(arg odom_prefix)"/>
<arg name="drone_num" value="$(arg drone_num)"/>
<arg name="simulation" default="true"/>
</include>
<include file="$(find exploration_manager)/launch/single_drone_exploration.xml">
<arg name="drone_id" value="2"/>
<arg name="init_x" value="0"/>
<arg name="init_y" value="-1"/>
<arg name="init_z" value="1"/>
<arg name="map_size_x" value="$(arg map_size_x)"/>
<arg name="map_size_y" value="$(arg map_size_y)"/>
<arg name="map_size_z" value="$(arg map_size_z)"/>
<arg name="odom_prefix" value="$(arg odom_prefix)"/>
<arg name="drone_num" value="$(arg drone_num)"/>
<arg name="simulation" default="true"/>
</include>
<include file="$(find exploration_manager)/launch/single_drone_exploration.xml">
<arg name="drone_id" value="3"/>
<arg name="init_x" value="1"/>
<arg name="init_y" value="-1"/>
<arg name="init_z" value="1"/>
<arg name="map_size_x" value="$(arg map_size_x)"/>
<arg name="map_size_y" value="$(arg map_size_y)"/>
<arg name="map_size_z" value="$(arg map_size_z)"/>
<arg name="odom_prefix" value="$(arg odom_prefix)"/>
<arg name="drone_num" value="$(arg drone_num)"/>
<arg name="simulation" default="true"/>
</include>
<include file="$(find exploration_manager)/launch/single_drone_exploration.xml">
<arg name="drone_id" value="4"/>
<arg name="init_x" value="1"/>
<arg name="init_y" value="0"/>
<arg name="init_z" value="1"/>
<arg name="map_size_x" value="$(arg map_size_x)"/>
<arg name="map_size_y" value="$(arg map_size_y)"/>
<arg name="map_size_z" value="$(arg map_size_z)"/>
<arg name="odom_prefix" value="$(arg odom_prefix)"/>
<arg name="drone_num" value="$(arg drone_num)"/>
<arg name="simulation" default="true"/>
</include>
<!-- <include file="$(find exploration_manager)/launch/single_drone_exploration.xml">
<arg name="drone_id" value="5"/>
<arg name="init_x" value="1"/>
<arg name="init_y" value="1"/>
<arg name="init_z" value="1"/>
<arg name="map_size_x" value="$(arg map_size_x)"/>
<arg name="map_size_y" value="$(arg map_size_y)"/>
<arg name="map_size_z" value="$(arg map_size_z)"/>
<arg name="odom_prefix" value="$(arg odom_prefix)"/>
<arg name="drone_num" value="$(arg drone_num)"/>
<arg name="simulation" default="true"/>
</include>
<include file="$(find exploration_manager)/launch/single_drone_exploration.xml">
<arg name="drone_id" value="6"/>
<arg name="init_x" value="0"/>
<arg name="init_y" value="1"/>
<arg name="init_z" value="1"/>
<arg name="map_size_x" value="$(arg map_size_x)"/>
<arg name="map_size_y" value="$(arg map_size_y)"/>
<arg name="map_size_z" value="$(arg map_size_z)"/>
<arg name="odom_prefix" value="$(arg odom_prefix)"/>
<arg name="drone_num" value="$(arg drone_num)"/>
<arg name="simulation" default="true"/>
</include> -->
<!-- <include file="$(find exploration_manager)/launch/single_drone_exploration.xml">
<arg name="drone_id" value="7"/>
<arg name="init_x" value="-1"/>
<arg name="init_y" value="1"/>
<arg name="init_z" value="1"/>
<arg name="map_size_x" value="$(arg map_size_x)"/>
<arg name="map_size_y" value="$(arg map_size_y)"/>
<arg name="map_size_z" value="$(arg map_size_z)"/>
<arg name="odom_prefix" value="$(arg odom_prefix)"/>
<arg name="drone_num" value="$(arg drone_num)"/>
<arg name="simulation" default="true"/>
</include>
<include file="$(find exploration_manager)/launch/single_drone_exploration.xml">
<arg name="drone_id" value="8"/>
<arg name="init_x" value="-1"/>
<arg name="init_y" value="0"/>
<arg name="init_z" value="1"/>
<arg name="map_size_x" value="$(arg map_size_x)"/>
<arg name="map_size_y" value="$(arg map_size_y)"/>
<arg name="map_size_z" value="$(arg map_size_z)"/>
<arg name="odom_prefix" value="$(arg odom_prefix)"/>
<arg name="drone_num" value="$(arg drone_num)"/>
<arg name="simulation" default="true"/>
</include>
<include file="$(find exploration_manager)/launch/single_drone_exploration.xml">
<arg name="drone_id" value="9"/>
<arg name="init_x" value="-1"/>
<arg name="init_y" value="-1"/>
<arg name="init_z" value="1"/>
<arg name="map_size_x" value="$(arg map_size_x)"/>
<arg name="map_size_y" value="$(arg map_size_y)"/>
<arg name="map_size_z" value="$(arg map_size_z)"/>
<arg name="odom_prefix" value="$(arg odom_prefix)"/>
<arg name="drone_num" value="$(arg drone_num)"/>
<arg name="simulation" default="true"/>
</include> -->
<!-- <include file="$(find exploration_manager)/launch/single_drone_exploration.xml">
<arg name="drone_id" value="10"/>
<arg name="init_x" value="0"/>
<arg name="init_y" value="-5.0"/>
<arg name="init_z" value="1"/>
<arg name="map_size_x" value="$(arg map_size_x)"/>
<arg name="map_size_y" value="$(arg map_size_y)"/>
<arg name="map_size_z" value="$(arg map_size_z)"/>
<arg name="odom_prefix" value="$(arg odom_prefix)"/>
<arg name="drone_num" value="$(arg drone_num)"/>
<arg name="simulation" default="true"/>
</include> -->
</launch>