HI Markus, Sensor plugins have a hackish way of dealing with multiple robots and namespaces. I've updated the comment thread at http://answers.gazebosim.org/question/4878/multiple-robots-with-ros-plugins-sensor-plugin-vs Piyush On Tue, Mar 25, 2014 at 5:36 PM, Markus Bader wrote: > Hi > > Is there nobody interested in a multi robot scenario. Gazebo_ros_plugins > especially sensor plugins are not able to deal with name spaces e.g. > ModelNames > > I proposed a solution by changing some plug ins (laser and camera) and > created a multi robot test scenario with two pioneer robots. > > It would be nice to get some feedback. > > Greetings > Markus > > > > > > 2014-03-20 19:43 GMT+01:00 Markus Bader : >> >> Hi >> >> I was looking for a method to spawn a robot model, with a gazebo_ros_laser >> plugin multiple times without writing multiple versions of the model >> description file. >> See: >> http://answers.gazebosim.org/question/4878/multiple-robots-with-ros-plugins-sensor-plugin-vs/ >> >> The problem: SensorPlugins are not able to resolve the parents name >> (robots namespace) like ModelPlugins with GetName () to generate a tf_prefix >> for unique tf's. >> >> I found two solutions: >> 1) using many xacro variables and using the robotNamespace param >> 2) changing the SensorPlugin source like suggested by Nate König >> >> Now I am not sure which solution is better. >> I changed the SensorPlugin for the laser and I think that's the right way >> to do it but I am not sure. >> Details to my solution: >> https://github.com/ros-simulation/gazebo_ros_pkgs/pull/141 >> >> Suggestions? >> Markus >> >> >> >> -- >> Dipl.-Ing. Dr.tech. Markus Bader >> >> ACIN | AUTOMATION & CONTROL INSTITUTE >> INSTITUT FÜR AUTOMATISIERUNGS- & REGELUNGSTECHNIK >> TECHNISCHE UNIVERSITÄT WIEN >> Gusshausstrasse 27-29 | 376. 1040 Wien >> DVR-Nummer: 0005886 >> Tel. +43 (0)1 58801 - 376646 >> Skype: markus.bader.at.work >> Fax. +43 (0)1 58801 - 37697 >> markus.bader@tuwien.ac.at | www.acin.tuwien.ac.at > > > > > -- > Dipl.-Ing. Dr.tech. Markus Bader > > ACIN | AUTOMATION & CONTROL INSTITUTE > INSTITUT FÜR AUTOMATISIERUNGS- & REGELUNGSTECHNIK > TECHNISCHE UNIVERSITÄT WIEN > Gusshausstrasse 27-29 | 376. 1040 Wien > DVR-Nummer: 0005886 > Tel. +43 (0)1 58801 - 376646 > Skype: markus.bader.at.work > Fax. +43 (0)1 58801 - 37697 > markus.bader@tuwien.ac.at | www.acin.tuwien.ac.at > > _______________________________________________ > ros-users mailing list > ros-users@lists.ros.org > http://lists.ros.org/mailman/listinfo/ros-users > _______________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users