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Revamped multi car simulation #16

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Revamped multi car simulation #16

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a426218
rewrote multi car simulation to be parametric
heatblast016 Jul 12, 2021
5abb459
can launch multiple cars with roslaunch command in terminal
heatblast016 Jul 13, 2021
cea2b30
Moved setting number of cars to launchfile. Also updated old multi_te…
heatblast016 Aug 6, 2021
7eebc32
Passes num_cars as a command line argument to multi_car.launch
heatblast016 Aug 11, 2021
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6 changes: 6 additions & 0 deletions launch/multi_car.launch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,6 @@
<launch>
<arg name="num_cars" default="2" />
<node name="launchcars" pkg="mushr_sim" type="multi_car.py">
<param name="num_cars" type="int" value="$(arg num_cars)"/>
</node>
</launch>
4 changes: 2 additions & 2 deletions launch/multi_teleop.launch
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<launch>

<arg name="car1_name" default="car1" />
<arg name="car2_name" default="car2" />
<arg name="car1_name" default="car0" />
<arg name="car2_name" default="car1" />

<!-- Set to 1 if you want to run the map_server -->
<arg name="map_server" value = "1"/>
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6 changes: 3 additions & 3 deletions launch/teleop.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -2,10 +2,10 @@
<launch>

<!-- Set to 1 if you want to run the map_server -->
<arg name="map_server" value = "1" />
<arg name="map_server" default="1" />

<arg name="car_name" default="car" />

<arg name="racecar_color" default="" />
<!-- Launch map server-->
<group if="$(arg map_server)">
<include file="$(find mushr_sim)/launch/map_server.launch" />
Expand All @@ -22,7 +22,7 @@
<!-- The colors of the racecar, should be of the form "-<platform_color>-<inset_color>" -->
<!-- An empty string will result in the default URDF -->
<!-- Check CMakeLists.txt of mushr_description for appropriate values -->
<arg name="racecar_color" value="" />
<arg name="racecar_color" value="$(arg racecar_color)" />

<arg name="car_name" value="$(arg car_name)" />
</include>
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27 changes: 27 additions & 0 deletions src/multi_car.py
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Original file line number Diff line number Diff line change
@@ -0,0 +1,27 @@
#!/usr/bin/env python2

import rospy
import roslaunch
import sys
rospy.init_node("launchcars")
uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
roslaunch.configure_logging(uuid)

#number of cars
n = rospy.get_param("~num_cars")

launches = []
mapserver = 1
colors = ['','-green-black','-red-white','-teal-purple','-purple-gold']
for x in range(n):
file_name='teleop.launch'
cli_args = ['mushr_sim', file_name, 'car_name:=car'+str(x), 'racecar_color:='+ colors[x%5], 'map_server:='+ str(mapserver)]
roslaunch_file = roslaunch.rlutil.resolve_launch_arguments(cli_args)[0]
roslaunch_args = cli_args[2:]
launches.append((roslaunch_file, roslaunch_args))
if(mapserver == 1):
mapserver = 0
parent = roslaunch.parent.ROSLaunchParent(uuid, launches)
parent.start()
while not rospy.is_shutdown():
rospy.sleep(1)