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Multiple robots with multiple robot_descriptions and ros controllers?

asked 2014-12-09 13:34:11 -0600

updated 2014-12-09 13:35:19 -0600

Does anyone have a basic example of multiple robots each with a unique robot description and set of ros_control controllers, being loaded from a ros launch file and running alongside each other?

I've run into some problems trying to accomplish that described partially here http://answers.ros.org/question/198929/running-controller_manager-spawner-with-mybotrobot_description/ , it seems like I can't launch a controller for the second robot because robot_description lies within a namespace- perhaps I'm forgetting to pass/remap a parameter for robot_description? (though it isn't clear how the gazebo would know I've done that on the controller loading end if it is on the other side of a service call)

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@Lucas Did you solve the problem? I am launching Gazebo Shadow robot arm-hand first and then rrbot (from here http://gazebosim.org/tutorials/?tut=roscontrol). And I can not launch these robots in one launch file. When I lunch them separately, it seems that /robotdescription is overwritten by the second robot.

nomad gravatar imagenomad ( 2015-04-02 06:49:58 -0600 )edit

@Lucas Did you manage to get an example of multiple robots each with a unique robot description and set of ros_control controllers? I'm also stuck at loading the controllers.

webvenky gravatar imagewebvenky ( 2015-09-13 23:47:07 -0600 )edit

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answered 2014-12-11 13:04:33 -0600

nkoenig gravatar image

Running multiple robots in ROS is a known issue. Try googling "ros multimaster". I don't have personal experience with multiple robots + ROS.

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Asked: 2014-12-09 13:34:11 -0600

Seen: 2,117 times

Last updated: Dec 11 '14