[ros-users] R: Re: Multi robot simulation

Sat Jun 30 15:52:09 UTC 2012

Thanks a lot for your reply. If it is not a problem for you, could you please link me the rosanswer topic you said in the previous mail?Best regards,
Marco Cognetti

----Messaggio originale----

Da: rgariepy at clearpathrobotics.com

Data: 30/06/2012 17.46

A: "User discussions"<ros-users at code.ros.org>

Ogg: Re: [ros-users] Multi robot simulation

Yes, there are known minor deficiencies in a few plugins related to support for the robotNamespace tag. We have fixes for both this and related problems in the TurtleBot simulations, but haven't yet had time to release proper diffs. If people want them, we can send the modified packages/files for review, but it'll still be a bit of time if we're going to do all of the review/comparisons ourselves.

We've also seen a few questions come up on ROS Answers related to this and have answered some of them, usually with variants on the above. I've answered here now since I'm finding generating/releasing piece-by-piece patches for each fix we've made to be pushed further and further down our priority list. If someone else is capable of reviewing what we've got, more of the community might be able to benefit now.

Ciao,

--

Ryan Gariepy | Clearpath Robotics, Inc.

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T:  +1 (800) 301-3863 x802 | F: +1 (888) 374-0091 | E: rgariepy at clearpathrobotics.com | W: www.clearpathrobotics.com

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On Sat, Jun 30, 2012 at 11:37 AM, marco.cognetti at libero.it <marco.cognetti at libero.it> wrote:

Hello everybody,

Hello to everybody. I know this might be a question for rosanswer but anybody

answered to me. SO, I try with this newsletter.

I want to emulate multi-robot system with some robots equipped with cameras. I

found gazebo_ros_prosilica is perfect for me since it uses opencv.

I have a launch file that launches two xacro files

 <param name="quad_urdf"

    command="$(find xacro)/xacro.py

    '$(find package)/models/quadrotorWithCamera.xacro'"

 />

<node name="spawn_quad0"

  pkg="gazebo" type="spawn_model"

  args="-urdf -param quad_urdf -model quad0 -x 0 -y 0 -z 3"

  respawn="false" output="screen">

</node>

<node name="spawn_quad1"

  pkg="gazebo" type="spawn_model"

  args="-urdf -param quad_urdf -model quad1 -x 1 -y 1 -z 3"

  respawn="false" output="screen">

</node>

The file quadrotorWithCamera.xacro loads a camera that publishes on

/ptz/camera_info (as example of a topic).

Obviously, both quadrotors will publish on the same topic and that's wrong. I

see two solutions:

1) rename topic with remap. But it doesn't work. I set

        <node name="spawn_quad0"

          pkg="gazebo" type="spawn_model"

          args="-urdf -param quad_urdf -model quad0 -x 0 -y 0 -z 3 -robotName quad0"

          respawn="false" output="screen">

        <remap from="ptz/camera_info" to="ptz/camera_info2"/>

        </node>

in both node but if I run rostopic list /ptz/camera_info is still on while

/ptz/camera_info2 has no topic published on it.

I also tried to modify the "from" field with /gazebo/camera_info,

~/gazebo/camera_info ~/camera_info without any result.

2) Try to give as input to xacro file the robot name but it seems no input is

available.

Does anyone has the same problem? Could someone help me?

I think it is a common problem using multi-robot simulation in ROS and I guess

someone finds a solution. The trivial solution is to rewrite the controller

using the parent->getName() as root for the publisher but I want to avoid it

since it means I have to rewrite all the controller that are in ROS that I want

to use.

Thanks for any reply,

Neostek

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