Spawn multiple objects with libgazebo_ros_camera.so plugin
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>RCcar/camera1</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>link_camera</frameName>
<hackBaseline>0.0</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<robotNamespace>/</robotNamespace>
</plugin>
Hello. Having this in my camera model's SDF I am not able to spawn multiple objects because they will have the same topics. How can I solve this problem?
Asked by dragobette on 2020-11-27 02:12:05 UTC
Answers
Give unique names to the plugins
<plugin name="camera_x" filename="libgazebo_ros_camera.so">
as well as camera names
<cameraName>camera_x</cameraName>
Edit:
To spawn multiple instances of your model, you need to remove the robotNamespace parameter from the model. Then you can spawn unique models by adding a namespace to the spawn_model node:
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg robot_name) -param robot_description" ns="$(arg robot_name)" />
Alternatively, although not recommended, you can add an argument for the robot name in your urdf:
<xacro:arg name="robot_name" default="robot_0" />
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
...
<robotNamespace>$(arg robot_name)</robotNamespace>
</plugin>
Then, you need to create individual urdf descriptions for each robot:
<param name="$(arg robot_name)/robot_description" command="rosrun xacro xacro /path/to/xacro/file robot_name:=$(arg robot_name)" />
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg robot_name) -param $(arg robot_name)/robot_description" />
Asked by nlamprian on 2020-11-27 06:17:43 UTC
Comments
i want to spawn the same model more than once
Asked by dragobette on 2020-11-27 08:59:51 UTC
Comments