# Revision history [back]

### Multiple models with a Gazebo plugin

Hello everyone,

I have a problem and I don't know how to fix it. I have an sdf file which includes multiple models within it, such as:

<include>
<uri>model://CubeBot</uri>
<name>cubebot_1</name>
<pose>0 0.117 0 -1.57 -1.57 0</pose>
</include>

<include>
<uri>model://CubeBot</uri>
<name>cubebot_2</name>
<pose>0 0.117 0 -1.57 -1.57 0</pose>
</include>


and each CubeBot model has a plugin to control it. I control their positions by using a ROS topic which communicates with Gazebo (stand-alone version). I use an array in the plugin in Gazebo to receive different reference positions from ROS, but it doesn't work. In fact when I command a CubeBot to move, (and only it), then even the other CubeBot moves, and I don't want it. Is it possible to fix this problem? I use Gazebo 2.2 and ROS indigo. Thanks a lot.

Vale

### Multiple models with a Gazebo plugin

Hello everyone,

I have a problem and I don't know how to fix it. I have an sdf file which includes multiple models within it, such as:

<include>
<uri>model://CubeBot</uri>
<name>cubebot_1</name>
<pose>0 0.117 0 -1.57 -1.57 0</pose>
</include>

<include>
<uri>model://CubeBot</uri>
<name>cubebot_2</name>
<pose>0 0.117 0 -1.57 -1.57 0</pose>
</include>


and each CubeBot model has a plugin to control it. I control their positions by using a ROS topic which communicates with Gazebo (stand-alone version). I use an array in the plugin in Gazebo to receive different reference positions from ROS, but it doesn't work. In fact when I command a CubeBot to move, (and only it), then even the other CubeBot moves, and I don't want it. Is it possible to fix this problem? I use Gazebo 2.2 and ROS indigo. Thanks a lot.

ValePS : plugin has been attachedC:\fakepath\plugin_cubebot.cc

### Multiple models with a Gazebo plugin

Hello everyone,

I have a problem and I don't know how to fix it. I have an sdf file which includes multiple models within it, such as:

<include>
<uri>model://CubeBot</uri>
<name>cubebot_1</name>
<pose>0 0.117 0 -1.57 -1.57 0</pose>
</include>

<include>
<uri>model://CubeBot</uri>
<name>cubebot_2</name>
<pose>0 0.117 0 -1.57 -1.57 0</pose>
</include>


and each CubeBot model has a plugin to control it. I control their positions by using a ROS topic which communicates with Gazebo (stand-alone version). I use an array in the plugin in Gazebo to receive different reference positions from ROS, but it doesn't work. In fact when I command a CubeBot to move, (and only it), then even the other CubeBot moves, and I don't want it. Is it possible to fix this problem? I use Gazebo 2.2 and ROS indigo. Thanks a lot.

PS : plugin has been attachedattached C:\fakepath\plugin_cubebot.cc

And these are sdf models: cubebot model C:\fakepath\model.sdf and manipulator model C:\fakepath\model.sdf