Quadrotor configuration about hector_quadrotor HOT 1 OPEN

<include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="gui" value="$(arg gui)"/>
    <arg name="headless" value="$(arg headless)"/>
    <arg name="debug" value="$(arg debug)"/>
</include>

<group ns="uav1">
    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
        <arg name="name" value="uav1"/>
        <arg name="tf_prefix" value="uav1"/>
        <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_downward_cam.gazebo.xacro"/>
        <arg name="y" value="-1.0"/>
        <arg name="use_ground_truth_for_tf" value="true"/>
        <arg name="use_ground_truth_for_control" value="true"/>
        <arg default="false" name="use_pose_estimation"/>
    </include>
</group>

<group ns="uav2">
    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
        <arg name="name" value="uav2"/>
        <arg name="tf_prefix" value="uav2"/>
        <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_downward_cam.gazebo.xacro"/>
        <arg name="y" value="1.0"/>
        <arg name="use_ground_truth_for_tf" value="true"/>
        <arg name="use_ground_truth_for_control" value="true"/>
        <arg default="false" name="use_pose_estimation"/>
    </include>
</group>

<group ns="uav3">
    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
        <arg name="name" value="uav3"/>
        <arg name="tf_prefix" value="uav3"/>
        <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_downward_cam.gazebo.xacro"/>
        <arg name="y" value="0"/>
        <arg name="use_ground_truth_for_tf" value="true"/>
        <arg name="use_ground_truth_for_control" value="true"/>
        <arg default="false" name="use_pose_estimation"/>
    </include>
</group>