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Addition of xacro argument for odometryFrame and robotBaseFrame while launching robot state publisher #216

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9 changes: 6 additions & 3 deletions turtlebot3_gazebo/launch/multi_turtlebot3.launch
Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,8 @@
</include>

<group ns = "$(arg first_tb3)">
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro
base_footprint_frame:='$(arg first_tb3)/base_footprint' odom_frame:='$(arg first_tb3)/odom'" />

<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
<param name="publish_frequency" type="double" value="50.0" />
Expand All @@ -40,7 +41,8 @@
</group>

<group ns = "$(arg second_tb3)">
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro
base_footprint_frame:='$(arg second_tb3)/base_footprint' odom_frame:='$(arg second_tb3)/odom'" />

<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
<param name="publish_frequency" type="double" value="50.0" />
Expand All @@ -51,7 +53,8 @@
</group>

<group ns = "$(arg third_tb3)">
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro
base_footprint_frame:='$(arg third_tb3)/base_footprint' odom_frame:='$(arg third_tb3)/odom'" />

<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
<param name="publish_frequency" type="double" value="50.0" />
Expand Down