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Problems with spawning multiple Turtlebots

asked 2019-11-29 11:06:25 -0600

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I am just trying to let my Turtlebot3 learn how to navigate. I succesfully let the robot navigate in the normal worlds. Now I wanna try to teach the robots to navigate in a world with more than one robot. So the robots itself represent obstacles.

My problem is now to spawn more than one robot. I tried to follow this tutorial: I modified it to the TB3 code and got the following: For the final launch file:


  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/"/>
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>

  <include file="$(find turtlebot3_gazebo)/launch/robots.launch"/>


For the robots.launch:


  <!-- BEGIN ROBOT 1-->
  <group ns="robot1">
    <param name="tf_prefix" value="robot1_tf" />
    <include file="one_robot.launch" >
      <arg name="x_pos" value="1" />
      <arg name="y_pos" value="1" />
      <arg name="z_pos" value="0" />

  <!-- BEGIN ROBOT 2-->
  <group ns="robot2">
    <param name="tf_prefix" value="robot2_tf" />
    <include file="one_robot.launch" >
      <arg name="x_pos" value="-1" />
      <arg name="y_pos" value="-1" />
      <arg name="z_pos" value="0" />



For one_robot:

  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="x_pos" default="0.0"/>
  <arg name="y_pos" default="0.0"/>
  <arg name="z_pos" default="0.0"/>

  <param name="robot_description" command="$(find xacro)/ $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />

  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model turtlebot3_burger -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />


The following problem occurs:

while processing one_robot.launch:
Invalid roslaunch XML syntax: [Errno 2] No such file or directory: u'one_robot.launch'

Do you guys have an idea how to fix this issue?

Kind regards

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1 Answer

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answered 2019-12-01 10:08:51 -0600

davidem gravatar image

In your file robots.launch:

include file="one_robot.launch"

there's no full path to one_robot.launch. You must provide it either using the substitution notation $(find foo_pkg)/one_robot.launch or by providing the entire string path.

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Asked: 2019-11-29 11:06:25 -0600

Seen: 590 times

Last updated: Dec 01 '19