spawn_p3at.launch

<?xml version="1.0"?>
<launch>

  <arg name="robot_name" default="robot1"/>
  <arg name="pose_args" default=""/>

  
  <node pkg="gazebo_ros" type="spawn_model" name="spawn_model_$(arg robot_name)" args="-urdf -param $(arg robot_name)/robot_description -namespace $(arg robot_name) -model pioneer3at_$(arg robot_name) $(arg pose_args)"/>

  <group ns="$(arg robot_name)">
    
    <param name="robot_description" command="$(find xacro)/xacro '$(find p3at_description)/urdf/pioneer3at.urdf.xacro' robot_name:=$(arg robot_name)" />
  
    <param name="tf_prefix" type="string" value="$(arg robot_name)" />
  
    <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
      <!--<remap from="robot_description" to="robot_description_$(arg robot_name)" />-->
    </node>  
  </group>

</launch>