Unable to move multiple turtlebots

asked 2019-04-26 18:32:11 -0600

moni213 gravatar image

updated 2019-05-02 15:42:34 -0600

EDIT: PROBLEM SOLVED, thanks anyway

Hello,

I want to launch multiple turtlebots using Gazebo, and move each one from them separately with cmd_vel_mux topic. Namely, I would like to send message to topic {robot_name)/cmd_vel_mux. However, I have just publishers to these topics in my code (because I have code that each robot runs that publishers to this topic). But, I have no subscribers to these topics. Therefore, gazebo is launched but the robots doesn't move.

I tried to launch mobile_base_nodelet_manager from ros nodelet package for each robot by adding to each robot launch file:

<node name="mobile_base_nodelet_manager" pkg="nodelet" type="nodelet" args="manager"/>

but I still didn't see subscribers to {robot_name}/cmd_vel_mux topics.

My files: MultipleRobot.launch

<?xml version="1.0"?>
 <launch>
     <param name="/use_sim_time" value="true" />
       <!-- start world -->
       <include file="$(find turtlebot_gazebo)/launch/turtlebot_world.launch">       
          <arg name="world_file" value="$(find turtlebot_gazebo)/worlds/corridor.world"/>

     <!-- include our robots -->
     <include file="$(find stopper)/launch/robots.launch"/>
       </include>    
</launch>

robot.launch

<?xml version="1.0"?>
  <launch>

  <!-- BEGIN ROBOT 1-->
  <group ns="robot1">
   <param name="tf_prefix" value="robot1" />
  <include file="$(find stopper)/launch/one_robot.launch" >
     <arg name="init_pose" value="-x 1 -y 1 -z 0" />
     <arg name="robot_name"  value="robot1" />
  </include>
  </group>

 <!-- BEGIN ROBOT 2-->
 <group ns="robot2">
  <param name="tf_prefix" value="robot2" />
  <include file="$(find stopper)/launch/one_robot.launch" >
     <arg name="init_pose" value="-x -1 -y 1 -z 0" />
     <arg name="robot_name"  value="robot2" />
  </include>
 </group>
 </launch>

one_robot.launch

<?xml version="1.0"?>
<launch> 
   <arg name="robot_name"/>
   <arg name="init_pose"/>

   <!-- Launch stopper node -->
   <node name="stopper" pkg="stopper" type="stopper" output="screen" args="$(arg robot_name)">
   </node>

  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="$(arg init_pose) -urdf -param 
      robot_description -model $(arg robot_name)" output="screen"/>
 <node name="mobile_base_nodelet_manager" pkg="nodelet" type="nodelet" args="manager"/>
</launch>

How can I solve this? Thanks in advance!

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Comments

Can you please update your question with your launch file(s)?

jayess gravatar image jayess  ( 2019-04-27 15:05:42 -0600 )edit

@jayess, Updated.

moni213 gravatar image moni213  ( 2019-04-27 15:23:17 -0600 )edit

@jayess, Can you advice me how to solve this? Thanks

moni213 gravatar image moni213  ( 2019-04-30 02:27:45 -0600 )edit

@moni213, if you've solved your question can you please post your solution as an answer?

jayess gravatar image jayess  ( 2019-05-02 17:33:03 -0600 )edit