Launch file challenge

In this challenge, you will practice more with launch files, YAML param files, remappings, and namespaces. This will be the conclusion of Part 2. To complete this challenge, you can decide to write the launch file in XML, Python, or both.

Challenge

What we want to do here is to start two turtlesim windows, each one with one turtle. Then, for each turtle, we run a turtle_controller node (the one we have been developing throughout the previous chapters).

The goal is to have each turtle_controller node controlling only one turtle. This is what the result should look like:

Figure 9.4 – Two different turtles with two independent controllers

For each turtle, we will apply different settings (parameters):

• First turtlesim window:
  • Background color: Red (you can pick 128 for the RGB value)
• First controller:
  • Color 1: Black
  • Color 2: White
  • Velocity: 1.5
• Second turtlesim window:
  • Background color: Green (you can pick 128...