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Overview

multi_jackal_base provides a launch file for spawning all components of a simulated Clearpath Jackal. It has been extended from the single robot jackal_base to separate the robots into unique namespaces, allowing multiple robots to be simulated at the same time.

Tutorials

There are tutorials on how to use this package in multi_jackal_tutorials.

Arguments

A number of arguments can be provided when launching jackal_base.launch.

  1. ns (string) -- The namespace of the robot. All nodes/topics/frames will be prefixed with this.

  2. x (double) -- The starting x position of the robot in Gazebo (m).

  3. y (double) -- The starting y position of the robot in Gazebo (m).

  4. z (double) -- The starting z position of the robot in Gazebo (m).

  5. roll (double) -- The starting roll orientation of the robot in Gazebo (rad).

  6. pitch (double) -- The starting pitch orientation of the robot in Gazebo (rad).

  7. yaw (double) -- The starting yaw orientation of the robot in Gazebo (rad).

  8. config (string) -- The configuration file to load in multi_jackal_description/urdf/configs.

  9. config_id (int) -- The configuration ID for use in the configuration file.

  10. use_move_base (bool) -- Whether to load move_base to navigate to goals.

  11. use_global_tf (bool) -- Whether to provide a static transform from map to ns/odom.

  12. use_global_ekf (bool) -- Whether to use the GPS to provide map to ns/odom.

If you only want to use local odometry for positioning, set use_global_tf to true and use_global_ekf to false. If you want to use the Jackals GPS, set use_global_ekf to true, and use_global_tf to false. If you want to use your own fusion, set them both to false.


2019-07-13 12:53