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Two robots in Gazebo, each with separate ROS

asked 2015-08-12 06:23:18 -0500

zdenekm gravatar image

Is it possible to simulate two robots in the same environment, where each robot runs its own ROS?

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Do you mean that each robot has its own ROS_MASTER?

SL Remy gravatar imageSL Remy ( 2015-08-20 00:09:01 -0500 )edit

Yes, exactly.

zdenekm gravatar imagezdenekm ( 2016-02-17 08:06:08 -0500 )edit

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answered 2016-02-17 11:54:16 -0500

nkoenig gravatar image

Gazebo can simulate as many robots as you want. The issue you are facing is associated with ROS. You'll get better help on this topic at

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I think that his question relates to the configuration of the gazebo_ros plugins... I'm guessing the question being asked is how to set the ROS_MASTER_URI parameter (or other command line args) for a running gazebo plugin. It might be an easier strategy for the two robots connect to the roscore instance that gazebo_ros is running on.

SL Remy gravatar imageSL Remy ( 2016-02-22 11:24:38 -0500 )edit

You are right. I should formulate my question more precisely... @nkoenig Is it possible to set ROS_MASTER_URI for a gazebo plugin?

ZdenekM gravatar imageZdenekM ( 2016-03-10 06:17:58 -0500 )edit

No. You should go to, or google 'ros multiple robots' or 'ros multimaster'.

nkoenig gravatar imagenkoenig ( 2016-03-10 09:03:09 -0500 )edit

@nkoenig This is definitely question related to Gazebo. I already have working multimaster setup in the lab with two (real) robots. What I want is to simulate such setup. Right now I'm running two instances of Gazebo - each one with one of the robots and different ROS_MASTER_URI. But it would be great to have both robots simulated in one Gazebo instance (so they could collide with each other etc.). Is it clear now? Sorry for not being specific in the original question.

ZdenekM gravatar imageZdenekM ( 2016-03-11 02:13:48 -0500 )edit

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Asked: 2015-08-12 06:23:18 -0500

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Last updated: Feb 17 '16