No subscribers to cmd_vel - multiple turtlebots

asked 2019-04-27 10:31:28 -0500

I want to launch multiple turtlebots using Gazebo, and move each one from them separately with cmd_vel_mux topic. Namely, I would like to send message to topic {robot_name)/cmd_vel_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 mobile_base_nodelet_manager from ros nodelet package for each robot by adding to each robot launch file:

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

but I still didn't see subscribers to {robot_name}/cmd_vel_mux topics.

How can I solve this? Thanks in advance!

edit retag flag offensive close merge delete