[ros-users] Multi-Robot Setup problem with ROS Sensor plugin

[Piyush]

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 <markus.bader at tuwien.ac.at> 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 <markus.bader at tuwien.ac.at>:
>>
>> 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 at 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 at tuwien.ac.at | www.acin.tuwien.ac.at
>
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