multirobot_config.yaml

# This configuration file is used by the simulation_multirobot.launch.py launch file
# to spawn multiple robots in the simulation.
# The configuration parameters are forwarded to the spawn.launch.py in the kobuki_description package as launch arguments.
# Please check its documentation for more information on the parameters.
# This is the list of the possible arguments with their default arguments:
#   name: kobuki        # Model name used in gazebo
#   namespace: ""       # Namespace to apply to the nodes, topics and TF frames
#   # Robot position
#   x: 0.0
#   y: 0.0
#   z: 0.0
#   # Robot orientation (roll, pitch, yaw)
#   R: 0.0
#   P: 0.0
#   Y: 0.0
#   lidar: true         # Enable lidar sensor
#   camera: true        # Enable camera sensor
#   use_sim_time: true  # Use simulation time


robots:
- name: kobuki_1
  namespace: r1

- name: kobuki_2
  namespace: r2
  x: 2.0
  y: 1.0
  Y: 0.0