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How to simulate multi-robots transportation in gazebo?

asked 2019-01-14 11:57:24 -0600

pinxian gravatar image

updated 2019-01-14 11:58:09 -0600

Hi all,

I can use px4-sitl to spawn a drone and control it in gazebo by sending command to specific rostopics.

https://dev.px4.io/en/simulation/mult...

Now,I want to simulate a group of quadcopters to transport a payload cooperatively.

I think I have to spawn the payload and drones in a xacro file and define joints between them.Is it correct?

If it's not, how do I modify the XACRO file?

Can someone give me an alternative method?

Thanks!!

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answered 2019-01-14 12:50:39 -0600

You can spawn multiple robot instances in gazebo by launching the xacro in different namespaces (and hopefully starting positions so they don't explode) as long as you don't hardcode any topics in the global namespace in your software. This would make it so a command to one would be sent to all. If you use a local namespace for all this should just work out of the box, although slow

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Hi , Thank you for your reply. I have tried to give each of robots namespace.For example /robot1 /robot2 .... However,I found that I cant define the joint and link after spawing robots. So I have to predefine the robots and their relationship in xacro file and then spawn the model. Is it right?

pinxian gravatar imagepinxian ( 2019-01-14 20:40:39 -0600 )edit

I think my problem is very similar to this https://answers.ros.org/question/2026... . Have you ever solved this kind of problem?

pinxian gravatar imagepinxian ( 2019-01-14 20:50:19 -0600 )edit

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Asked: 2019-01-14 11:57:24 -0600

Seen: 130 times

Last updated: Jan 14