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