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Copy pathmurder_swarm_maze3.launch
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murder_swarm_maze3.launch
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<launch>
<arg name="world" default="maze3" />
<arg name="gui" default="true" />
<arg name="drone_num" value="10" />
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find multisim_gazebo)/worlds/$(arg world).world" />
<arg name="use_sim_time" value="true"/>
<arg name="paused" value="false"/>
<arg name="gui" value="$(arg gui)"/>
</include>
<include file="$(find swarm_exp_bridge)/launch/local_tcp.launch">
<arg name="sim_id" value="1" />
<arg name="sim_num" value="$(arg drone_num)" />
</include>
<include file="$(find murder_swarm)/launch/murder_ground_demo.launch">
<arg name="id" value="0"/>
<arg name="world" value="$(arg world)"/>
<arg name="drone_num" value="$(arg drone_num)" />
</include>
<!-- <node name="rvizvisualisation" pkg="rviz" type="rviz" output="screen" args="-d $(find murder_swarm)/rviz/murder_swarm_local.rviz"/> -->
<node name="rvizvisualisation" pkg="rviz" type="rviz" output="screen" args="-d $(find murder_swarm)/rviz/ground_demo.rviz"/>
<include file="$(find murder_swarm)/launch/murder_single.launch" if="$(eval arg('drone_num') >= 1)">
<arg name="drone_num" value="$(arg drone_num)"/>
<arg name="world" value="$(arg world)"/>
<arg name="id" value="1"/>
<arg name="init_x" value="0"/>
<arg name="init_y" value="0"/>
<arg name="init_z" value="1.25"/>
</include>
<include file="$(find murder_swarm)/launch/murder_single.launch" if="$(eval arg('drone_num') >= 2)">
<arg name="drone_num" value="$(arg drone_num)"/>
<arg name="world" value="$(arg world)"/>
<arg name="id" value="2"/>
<arg name="init_x" value="0"/>
<arg name="init_y" value="1.5"/>
<arg name="init_z" value="0.75"/>
</include>
<include file="$(find murder_swarm)/launch/murder_single.launch" if="$(eval arg('drone_num') >= 3)">
<arg name="drone_num" value="$(arg drone_num)"/>
<arg name="world" value="$(arg world)"/>
<arg name="id" value="3"/>
<arg name="init_x" value="0"/>
<arg name="init_y" value="-1.5"/>
<arg name="init_z" value="0.75"/>
</include>
<include file="$(find murder_swarm)/launch/murder_single.launch" if="$(eval arg('drone_num') >= 4)">
<arg name="drone_num" value="$(arg drone_num)"/>
<arg name="world" value="$(arg world)"/>
<arg name="id" value="4"/>
<arg name="init_x" value="0"/>
<arg name="init_y" value="3"/>
<arg name="init_z" value="1.25"/>
</include>
<include file="$(find murder_swarm)/launch/murder_single.launch" if="$(eval arg('drone_num') >= 5)">
<arg name="drone_num" value="$(arg drone_num)"/>
<arg name="world" value="$(arg world)"/>
<arg name="id" value="5"/>
<arg name="init_x" value="0"/>
<arg name="init_y" value="-3"/>
<arg name="init_z" value="1.25"/>
</include>
<include file="$(find murder_swarm)/launch/murder_single.launch" if="$(eval arg('drone_num') >= 6)">
<arg name="drone_num" value="$(arg drone_num)"/>
<arg name="world" value="$(arg world)"/>
<arg name="id" value="6"/>
<arg name="init_x" value="-1.5"/>
<arg name="init_y" value="0"/>
<arg name="init_z" value="1.25"/>
</include>
<include file="$(find murder_swarm)/launch/murder_single.launch" if="$(eval arg('drone_num') >= 7)">
<arg name="drone_num" value="$(arg drone_num)"/>
<arg name="world" value="$(arg world)"/>
<arg name="id" value="7"/>
<arg name="init_x" value="-1.5"/>
<arg name="init_y" value="1.5"/>
<arg name="init_z" value="0.75"/>
</include>
<include file="$(find murder_swarm)/launch/murder_single.launch" if="$(eval arg('drone_num') >= 8)">
<arg name="drone_num" value="$(arg drone_num)"/>
<arg name="world" value="$(arg world)"/>
<arg name="id" value="8"/>
<arg name="init_x" value="-1.5"/>
<arg name="init_y" value="-1.5"/>
<arg name="init_z" value="0.75"/>
</include>
<include file="$(find murder_swarm)/launch/murder_single.launch" if="$(eval arg('drone_num') >= 9)">
<arg name="drone_num" value="$(arg drone_num)"/>
<arg name="world" value="$(arg world)"/>
<arg name="id" value="9"/>
<arg name="init_x" value="-1.5"/>
<arg name="init_y" value="3"/>
<arg name="init_z" value="1.25"/>
</include>
<include file="$(find murder_swarm)/launch/murder_single.launch" if="$(eval arg('drone_num') >= 10)">
<arg name="drone_num" value="$(arg drone_num)"/>
<arg name="world" value="$(arg world)"/>
<arg name="id" value="10"/>
<arg name="init_x" value="-1.5"/>
<arg name="init_y" value="-3"/>
<arg name="init_z" value="1.25"/>
</include>
</launch>