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 | 1 | initial version |
I'm not sure what the real solution is (such that gazebo will directly publish odometry and tf for multiple robots), but I put together a hacky solution which was usable for me. Check out the two launch files in rosh_turtlebot_demo for how to startup gazebo and spawn two robots, and publish_odom.py for publishing odometry and tf.
| | 2 | No.2 Revision |
I'm not sure what the real solution is (such that gazebo will directly publish odometry and tf for multiple robots), but I put together a hacky solution which was usable for me. Check out the two launch files in rosh_turtlebot_demo for how to startup gazebo and spawn two robots, and publish_odom.py for publishing odometry and tf.
The key is subscribing to gazebo/model_states and republishing the odom/tf data.
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