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multiple ardrone spawn

asked 2014-08-14 15:26:47 -0500

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Right now, I am using tumsimulator(Fuerte base simulation for ardrone) After I have modified some of them, I was able to spawn 2nd ardrone. I am also able to track the navigating from Rviz for both of ardrone. When I publish "takeoff" command to 1star, it works. However, it doesn't work when I publish to 2ndar/takeoff. 1star just takes the command(2nd_ar/takeoff) and takeoff forever. Does anyone know about this problem?

Main launch file

<?xml version="1.0"?>


<arg name="gui" default="true"/> <arg name="model" value="$(find cvg_sim_gazebo)/urdf/quadrotor_sensors.urdf.xacro"/>

<node name="gazebo" pkg="gazebo" type="gazebo" args="$(find cvg_sim_gazebo)/worlds/" respawn="false" output="screen"/> <group if="$(arg gui)"> <node name="gazebo_gui" pkg="gazebo" type="gui" respawn="false" output="screen"/> </group>

<group ns="1st_ar"> <include file="$(find cvg_sim_gazebo)/launch/YGspawn0.launch" &gt;="" <arg="" name="tf_prefix" value="1st_ar"/> <arg name="model" value="$(arg model)"/> <arg name="init_pose" value="-x 0 -y -1 -z 0.5"/> <arg name="Quadname" value="1st_ar"/> </include> </group>

<group ns="2nd_ar"> <include file="$(find cvg_sim_gazebo)/launch/YGspawn0.launch" &gt;="" <arg="" name="tf_prefix" value="2nd_tf"/> <arg name="model" value="$(arg model)"/> <arg name="init_pose" value="-x 0 -y 1 -z 0.5"/> <arg name="Quadname" value="2nd_ar"/> </include> </group>

<node pkg="rviz" type="rviz" name="rviz" args="-d $(find cvg_sim_test)/rviz_cfg/outdoor_flight.vcg"/>


spawnmodel launch file

<?xml version="1.0"?>


<arg name="init_pose" default="pose"/> <arg name="Quadname" default="ardrone"/>

<arg name="model" default="$(find cvg_sim_gazebo)/urdf/quadrotor.urdf.xacro"/>

<node name="spawn_quad_model" pkg="gazebo" type="spawn_model" args="-param robot_description -urdf -unpause -$(arg init_pose) -model $(arg Quadname)" respawn="false"/>

<!-- start robot state publisher -->

<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher_$(arg Quadname)" output="screen" &gt;="" <param="" name="publish_frequency" type="double" value="30.0"/> </node>

<node name="ground_truth_to_tf_$(arg Quadname)" pkg="message_to_tf" type="message_to_tf" output="screen"> </node>


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2 Answers

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answered 2018-02-12 20:24:41 -0500

malhar gravatar image


Even though it's 2018 now, I can confirm that the same issue exists now as well. I am working with ROS kinetic + tum_simulator + Gazebo. YOu can see my question on ROS forum here.

If anyone has found a solution to controlling multiple drones in tum_simulator, kindly respond to this.


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answered 2016-07-08 04:46:05 -0500

Omer gravatar image


I'm now working on tum_simulator for Indigo and I'm seeing exactly the same problem. After some onion peeling, I found several things:

(1) The cameras are spawned successfully for each AR-Drone

(2) The other sensors and state controller aren't spawned correctly and that explains the behavior mentioned above

I wonder if this is some issue of the specific gazebo plugins (all taken from the hector quadrotor projects, except the camera plugin) or maybe they're just not instantiated correctly in the URDF files.

Any direction for debugging this will help.


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Asked: 2014-08-14 15:26:47 -0500

Seen: 1,255 times

Last updated: Jul 08 '16