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Is there common way to run multiple robots in ROS2?

asked 2019-10-03 10:22:04 -0500

Dmitriy gravatar image

updated 2019-10-04 01:21:27 -0500

The hard part is /tf since robot_state_publisher push all frame_ids into single topic.

EDIT: This is how I launch RobotStatePublisher:

robot_state_publisher = Node(
    package='robot_state_publisher',
    node_executable='robot_state_publisher',
    node_namespace=LaunchConfiguration(args.MODEL_NAME_ARG),
    output='screen',
    parameters=[{
        'use_sim_time': LaunchConfiguration(args.USE_SIM_TIME_ARG, default=True),
        'tf_prefix': 'ssss',
    }],
    arguments=[
        urdf,
        LaunchConfiguration(args.MODEL_NAME_ARG),
        '__log_level:=warn',
        'tf_prefix:=dddd',
    ],
)

tf_prefix is not set neither as parameter, nor as argument.

If you look into dashing branch of robot_state_publisher, you can see that tf_prefixis actually ignored: https://github.com/ros2/robot_state_p...

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answered 2021-10-12 15:04:46 -0500

shonigmann gravatar image

updated 2021-10-13 11:30:15 -0500

For any new viewers to this question, the functionality of tf_prefix has been recently reintroduced in Foxy and Galactic, under a new name: frame_prefix. More details can be found on the wiki here

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answered 2019-10-04 06:16:00 -0500

Dmitriy gravatar image
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answered 2019-10-03 13:45:45 -0500

lucascoelho gravatar image

robot_state_publisher has a "tf_prefix" parameter which will allow you have all the robots with different frame_id

More info here http://wiki.ros.org/robot_state_publi...

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Comments

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In ROS2 dashing tf_prefixis ignored. See https://github.com/ros2/robot_state_p... and my edited question.

Dmitriy gravatar image Dmitriy  ( 2019-10-04 01:22:21 -0500 )edit

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Asked: 2019-10-03 10:22:04 -0500

Seen: 620 times

Last updated: Oct 13