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Multiple robots with ROS plugins (Sensor plugin vs. model plug-in)

Hi

I am using gazebo 2.0.0 and ROS hydro on Ubuntu 12.04 64bit
I like to have multiple robots within gazebo but with xacro/urdf file.
The idea was to use the name under which the robot model was spawned as prefix. This worked with some code rewriting by telling the gazebo_ros model (diffdrive) plug-in by using the physics::ModelPtr::GetName() function to access the model instance name. But the laser model uses receives a sensors::SensorPtr on Load?

  • How can I get the model instance name?
  • Is there a other way to do this?

Greetings Markus

Multiple robots with ROS plugins (Sensor plugin vs. model plug-in)

Hi

I am using gazebo 2.0.0 and ROS hydro on Ubuntu 12.04 64bit
I like to have multiple robots within gazebo but with xacro/urdf file.
The idea was to use the name under which the robot model was spawned as prefix. This worked with some code rewriting by telling the gazebo_ros model (diffdrive) plug-in by using the physics::ModelPtr::GetName() function to access the model instance name. But the laser model uses receives a sensors::SensorPtr on Load?

  • How can I get the model instance name?
  • Is there a other way to do this?

Greetings Markus

Multiple robots with ROS plugins (Sensor plugin vs. model plug-in)

Hi

I am using gazebo 2.0.0 and ROS hydro on Ubuntu 12.04 64bit
I like to have multiple robots within gazebo but with xacro/urdf file.
The idea was to use the name under which the robot model was spawned as prefix. This worked with some code rewriting by telling the gazebo_ros model (diffdrive) plug-in by using the physics::ModelPtr::GetName() function to access the model instance name. But the laser model uses receives a sensors::SensorPtr on Load?

  • How can I get the model instance name?
  • Is there a other way to do this?

Greetings Markus