ROS Package for Spawning Multiple Robots in Gazebo

In the last couple of months, I’ve had the opportunity to work on three multi-robot systems projects and one challenge I encountered in the early days was spawning any number of robots in a desired formation without having to rewrite cumbersome launch files all the time. Unable to find an open-source solution to this, My colleague (Joseph) and I wrote a lightweight ROS package to allow for seamless spawning of any number of robots in Gazebo, simply by altering a central configuration file.

This is my first open-source ROS package, so I’m excited to share this with the robotics community as it significantly improved my workflow and allowed me to test my algorithms much more extensively.