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The idea was to use the name under which the robot model was spawned as prefix.

Just about every gazebo_ros plugin supports the <robotNamespace> configuration tag. You can use this to have them create their publishers and subscribers on namespaced topics.

See here for an example: https://github.com/ros-simulation/gazebo_ros_demos/blob/master/rrbot_description/urdf/rrbot.gazebo#L7