Add ability to describe multiple turrets using xs_launch (Interbotix#66)

* [xs_modules] Add ability to describe multiple turrets

* Update docstring

* Fix import ordering

interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_launch/xs_launch.py

@@ -148,29 +148,43 @@ class DeclareInterbotixXSTurretRobotDescriptionLaunchArgument(DeclareLaunchArgum
     def __init__(
         self,
         *,
-        default_value: Optional[SomeSubstitutionsType] = Command([
-            FindExecutable(name='xacro'), ' ',
-            PathJoinSubstitution([
-                FindPackageShare('interbotix_xsturret_descriptions'),
-                'urdf',
-                LaunchConfiguration('robot_model')
-            ]), '.urdf.xacro ',
-            'robot_name:=', LaunchConfiguration('robot_name'), ' ',
-            'base_link_frame:=', LaunchConfiguration('base_link_frame'), ' ',
-            'use_world_frame:=', LaunchConfiguration('use_world_frame'), ' ',
-            'external_urdf_loc:=', LaunchConfiguration('external_urdf_loc'), ' ',
-            'hardware_type:=', LaunchConfiguration('hardware_type'), ' ',
-        ]),
-        **kwargs
+        robot_description_launch_config_name: Text = 'robot_description',
+        robot_model_launch_config_name: Text = 'robot_model',
+        robot_name_launch_config_name: Text = 'robot_name',
+        default_value: Optional[SomeSubstitutionsType] = None,
+        **kwargs,
     ) -> None:
         """
         Construct the modified DeclareLaunchArgument object.
 
+        :param robot_description_launch_config_name: Name of the robot description launch
+            configuration. This is typically only changed when multiple turrets are to be launched.
+            Defaults to `robot_description`
+        :param robot_model_launch_config_name: Name of the robot model launch configuration.
+            This is typically only changed when multiple turrets are to be launched. Defaults to
+            `robot_model`
+        :param robot_name_launch_config_name: Name of the robot name launch configuration.
+            This is typically only changed when multiple turrets are to be launched. Defaults to
+            `robot_name`
         :param default_value: The default model given to the parent DeclareLaunchArgument; if you
             want to override this value, it must follow the convention in this object's source
         """
+        if default_value is None:
+            default_value = Command([
+                FindExecutable(name='xacro'), ' ',
+                PathJoinSubstitution([
+                    FindPackageShare('interbotix_xsturret_descriptions'),
+                    'urdf',
+                    LaunchConfiguration(robot_model_launch_config_name)
+                ]), '.urdf.xacro ',
+                'robot_name:=', LaunchConfiguration(robot_name_launch_config_name), ' ',
+                'base_link_frame:=', LaunchConfiguration('base_link_frame'), ' ',
+                'use_world_frame:=', LaunchConfiguration('use_world_frame'), ' ',
+                'external_urdf_loc:=', LaunchConfiguration('external_urdf_loc'), ' ',
+                'hardware_type:=', LaunchConfiguration('hardware_type'), ' ',
+            ])
         super().__init__(
-            name='robot_description',
+            name=robot_description_launch_config_name,
             default_value=default_value,
             description=(
                 'URDF of the robot; this is typically generated by the xacro command.'
@@ -463,9 +477,12 @@ def declare_interbotix_xsturret_robot_description_launch_arguments(
     use_world_frame: Text = 'true',
     external_urdf_loc: Text = '',
     hardware_type: Text = 'actual',
+    robot_description_launch_config_name: Text = 'robot_description',
+    robot_model_launch_config_name: Text = 'robot_model',
+    robot_name_launch_config_name: Text = 'robot_name',
 ) -> List[DeclareLaunchArgument]:
     """
-    Return the `robot_description` DeclareLaunchArgument and its required children.
+    Return a robot description DeclareLaunchArgument and its required children.
 
     DeclareLaunchArgument objects:
         - `base_link_frame`
@@ -516,7 +533,11 @@ def declare_interbotix_xsturret_robot_description_launch_arguments(
                 'simulated in Gazebo.'
             ),
         ),
-        DeclareInterbotixXSTurretRobotDescriptionLaunchArgument(),
+        DeclareInterbotixXSTurretRobotDescriptionLaunchArgument(
+            robot_description_launch_config_name=robot_description_launch_config_name,
+            robot_model_launch_config_name=robot_model_launch_config_name,
+            robot_name_launch_config_name=robot_name_launch_config_name,
+        ),
     ]
 
 

interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/arm.py

@@ -33,8 +33,8 @@
 """
 
 import math
-from threading import Thread
 import sys
+from threading import Thread
 import time
 from typing import Any, List, Tuple, Union