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Turned out, that if I use this --namespace argument when launching the controller_spawner, the gazebo_ros_control plugin is launched in that namespace and you can launch several of them this way.

  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" ns="/robot1" args=" --namespace=/robot1
                                      joint_state_controller
                                      joint_left_wheel_controller
                                      joint_right_wheel_controller" />