aizuspider_task3.launch

<launch>
  <arg name="task" default="TASK_A" />
  <param name="/use_sim_time" value="true" />

  <group ns="AizuSpiderAA">
    <param name="robot_description"
           textfile="$(find aizuspider_description)/AizuSpiderSS.urdf" />
    <rosparam command="load"
              file="$(find aizuspider_description)/aizuspider_controller_settings.yaml" />
    <node name="$(anon cm_spawner)" pkg="controller_manager"
          type="spawner" args="joint_state_controller
                               fullbody_controller" />

    <node name="robot_state_publisher_AA" pkg="robot_state_publisher"
          type="state_publisher">
      <param name="tf_prefix" value="AizuSpiderAA" />
    </node>
  </group>
  <node name="aizuspider_ros_supportAA" pkg="roseus" type="roseus"
        args="$(find aizuspider_description)/aizuspider-ros-support.l"
        output="screen">
      <param name="namespace" value="AizuSpiderAA"/>
  </node>

  <ggroup ns="AizuSpiderBB">
    <param name="robot_description"
           textfile="$(find aizuspider_description)/AizuSpiderSS.urdf" />
    <rosparam command="load"
              file="$(find aizuspider_description)/aizuspider_controller_settings.yaml" />
    <node name="$(anon cm_spawner)" pkg="controller_manager"
          type="spawner" args="joint_state_controller
                               fullbody_controller" />
    <node name="robot_state_publisher_BB" pkg="robot_state_publisher"
          type="state_publisher">
      <param name="tf_prefix" value="AizuSpiderBB" />
    </node>
  </ggroup>

  <env name="CNOID_TASK" value="$(arg task)" />
  <node name="choreonoid" pkg="aizuspider_description" type="run_cnoid.sh"
        args="$(find aizuspider_description)/Task3-AizuSpiderSS.cnoid" />
</launch>