multiple robots under one core?

asked 2012-01-16 04:03:49 -0500

apalomer
318 ●51 ●54 ●66

Hi all!

I'm planning to use multiple turtlebots under the same core. The thing is that, for example, all the robots uses the same name for the topics. My question is: Is it possible to modifying a little bit the code I get different names for each robot or do I need to manually go through all the code and change all the names of the nodes?

What I want is to get something like, instead of cmd_vel turtlebot1/cmd_vel, instead of joy turtlebot1/joy and so on.

Thanks!

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answered 2012-01-16 05:53:09 -0500

mmwise

8372 ●45 ●74 ●99 http://www.meloneewise.com/

updated 2012-01-19 08:21:10 -0500

You should be able to push the TurtleBots into their own namespaces.. so when you launch the TurtleBots do something like this in your rolsaunch file

<launch>
  <group ns=turtlebot1>

    all your regular launch stuff.....

  </group>
</launch>

see this page for more roslaunch XML markup help http://www.ros.org/wiki/roslaunch/XML

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Maybe, also set tf_prefix to the robot name.

dornhege ( 2012-01-16 21:27:09 -0500 )edit

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answered 2012-01-16 21:23:28 -0500

apalomer
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Thank you mwise_wg, it's been really usefull.

Only thing to coment is that the correct command is < group ns="turtlebot1"> and < /group> instead of ns and /ns.

Thanks!

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