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The problem in this case is, that gazebo has a fixed name for the topic for it's processes. There is a topic called /gazebo and /gazebo_gui that starts for every gazebo simulation and it is not possible to rename it as it is placed in a protected file /opt/ros/kinetic/share/gazebo_ros/launch/empty_world.launch.

My conclusion is, that it is not possible to run two robot simulations on one ROS core for this reason. The ROS core would not be able to differentiate between the simulations.

The problem in this case is, that gazebo has a fixed name for the topic for it's processes. There is a topic called /gazebo and /gazebo_gui that starts for every gazebo simulation and it is not possible to rename it as it is placed in a protected file /opt/ros/kinetic/share/gazebo_ros/launch/empty_world.launch.

My conclusion is, that it is not possible to run two robot simulations on one ROS core for this reason. The ROS core would not be able to differentiate between the simulations.

What we can do, however, is to run the simulations in separate ROS-Masters and separate Gazebo-Masters using the multimaster-fkie package and making the /gazebo and /gazebo_gui topics private by setting the ~ignore_nodes parameter of master_sync node.

rosrun master_sync_fkie master_sync _ignore_nodes:=['/gazebo','/gazebo_gui']

Now each ROS core only sees its own gazebo.