control multiple robots in gazebo via rviz

edit

Hello I use fuerte in Ubuntu 12.04

and I want to control several turtlebots in gazebo via rviz. I follow the tutorial: answers.ros.org/question/41433/multiple-robots-simulation-and-navigation/ but have problems with the hacks

and replace line 36 to node_namespaceP_ = new ParamT<std::string>("robotNamespace","",0)

line 36 is

GazeboRosCreate::~GazeboRosCreate() { rosnode_->shutdown(); this->spinner_thread_->join(); delete this->spinner_thread_; delete [] wheel_speed_; delete rosnode_; }

and then the problem that rosmake does not work (because ROS_NOBUILD), --unmark-installed and --build-everything, too. because it is in / opt / ros / fuerte / stacks (he can not create "build")

with a robot, it worked, after I try it with the instructions I got the error

goal.target_pose.header.stamp = rospy.Time.now() File "/opt/ros/fuerte/lib/python2.7/dist-packages/rospy/rostime.py", line 149, in now return get_rostime() File "/opt/ros/fuerte/lib/python2.7/dist-packages/rospy/rostime.py", line 203, in get_rostime raise rospy.exceptions.ROSInitException("time is not initialized. Have you called init_node()?") rospy.exceptions.ROSInitException: time is not initialized. Have you called init_node()?

can any one help

(I have no real Turtlebot) control robot via

#!/usr/bin/env python
import roslib; roslib.load_manifest('simple_navigation_goals')
import rospy
import actionlib
from move_base_msgs.msg import MoveBaseGoal, MoveBaseAction

if __name__ == "__main__":
    rospy.init_node("simple_navigation_goals")
    client = actionlib.SimpleActionClient( 'move_base', MoveBaseAction )
    client.wait_for_server()

    goal = MoveBaseGoal()
#   goal.target_pose.header.frame_id = "/base_link"
    goal.target_pose.header.frame_id = "/map"
    goal.target_pose.header.stamp = rospy.Time.now()
    goal.target_pose.pose.position.x = 1
    goal.target_pose.pose.position.y = 1
goal.target_pose.pose.orientation.w = 1.0

    client.send_goal(goal)
#   client.wait_for_result(rospy.Duration.from_sec(5.0))

    client.wait_for_result()

print client.get_state()

• need bugfix
• help for control robots