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

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Dipl.-Ing. Dr.tech. Markus Bader

ACIN | AUTOMATION & CONTROL INSTITUTE
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