Changed demo launch files to use tuw_traj_pid instead of old local co…

…ntroller.

Can be enabled with "use_default" flag.
TODO: fix localization in tuw_multi_robot_ctrl

tuw_multi_robot_demo/launch/local_controller_recursive.launch

@@ -3,14 +3,22 @@
 <launch>
 <arg name="nr_of_robots" default="1"/> 
 <arg name="robot_name_prefix" default="robot_"/>
+<arg name="use_default" default="true" />
 
 <!-- reduce the loop counter "nr_of_robots-1" = robot_id -->
 <arg name="robot_id" value="$(eval arg('nr_of_robots') - 1)"/>
 
 <!-- launch the controller -->
-<include file="$(find tuw_multi_robot_demo)/launch/local_controller.launch">
+<group if="$(arg use_default)">
+  <include file="$(find tuw_multi_robot_demo)/launch/local_controller.launch">
     <arg name="robot_name" value="$(arg robot_name_prefix)$(arg robot_id)" />
-</include>
+  </include>
+</group>
+<group unless="$(arg use_default)">
+  <include file="$(find tuw_multi_robot_demo)/launch/pid_local_controller.launch">
+    <arg name="robot_name" value="$(arg robot_name_prefix)$(arg robot_id)" />
+  </include>
+</group>
 
 <!-- recursive call -->
 <include file="$(find tuw_multi_robot_demo)/launch/local_controller_recursive.launch" if="$(eval arg('robot_id') > 0)">

tuw_multi_robot_demo/launch/pid_local_controller.launch

@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+
+<launch>
+<arg name="robot_name" default="robot_0"/>
+<arg name="update_rate_info" value="1.0" />
+
+<group ns="$(arg robot_name)">
+
+  <node pkg="tf" type="static_transform_publisher" name="odom_bc" args="0 0 0 0 0 0 1 map $(arg robot_name)/odom 10" />
+
+  <param name="base_frame" value="$(arg robot_name)/base_link" />
+  <include file="$(find tuw_traj_pid)/launch/traj_pid_nodelet.launch">
+  </include>
+
+  <node pkg="tuw_multi_robot_local_behavior_controller" type="tuw_local_behavior_controller_node" name="local_behavior" output="screen">
+    <param name="robot_name" value="$(arg robot_name)" />
+    <param name="robot_radius" value="0.3" />
+    <remap from="robot_info" to="/robot_info" />
+  </node>
+
+  <node pkg="nodelet" type="nodelet" name="self_localization" args="standalone FakePoseEstimationNodelet"/>
+
+</group>
+
+</launch>