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No subscribers to cmd_vel - multiple turtlebots

I want to launch multiple turtlebots using Gazebo, and move each one from them separately with cmdvelmux topic. Namely, I would like to send message to topic {robotname)/cmdvel_mux. However, I have just publishers to these topics in my code (because I have code that each robot runs that publishers to this topic). But, I have no subscribers to these topics. Therefore, gazebo is launched but the robots doesn't move.

I tried to launch mobilebasenodelet_manager from ros nodelet package for each robot by adding to each robot launch file:

node pkg="nodelet" type="nodelet" name="mobilebasenodelet_manager" args="manager"

but I still didn't see subscribers to {robotname}/cmdvel_mux topics.

How can I solve this? Thanks in advance!

Asked by moni213 on 2019-04-27 10:31:28 UTC

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