Multiple turtlebots "odom" topic problem
Hi Everyone, I spawned multiple turtlebots for my gazebo simulation using the kobuki model from the turtlebot simulator. I can input velocity commands for each individual turtlebot using different namespace like /robot1/vel_cmd, robot2/vel_cmd ..etc but I couldn't read my odometry topic on the same manner. In other words I just got one single topic “/odom” but I need to push down the “/odom” topic into its own namespace like /robot1/odom, robot2/odom...robot4/odom. I installed hydro ROS, gazebo/gazebo_ros_pkg and turtlebot simulator from pre- built-debians and I read some posts where people recommend to install gazebo/gazeb_ros_pkg “from source” to have access to the source code then to solve this problem by changing the source. For this particular problem I read that I need to change the gazebo_ros_create.cpp file where the odom topic is declared like “/odom” as global name and I need to change it to “odom” as relative name to be able to push down the topic I haven't tried it yet but I have my doubts about this option. Please any help regarding this matter. Thanks alot