Is it possible connect different worlds in gazebo and RVIZ?

asked 2020-01-09 07:50:33 -0600

lbajlo gravatar image

updated 2020-01-13 06:50:48 -0600

Hi everyone, I spawned 2 robots in Gazebo and rviz (using moveit packages which I made). My robots have equaly named links in xacro file and this is making problem for transforms between links. To distinguish which link belongs to which robot I added prefix tf_prefix in robot state publisher node for each robot and just passed robot namespace value. In the xacro I added new link which is called "World" and tf_prefix added prefix before every joint and link found xacro file. This way I do not have to manually adapt controllers yaml files and all other files that contain names of links and joints. Problem with this is that my two robots do not have any connection over transform because they are both connected to their own worlds.

Other way to solve this problem wold be to add a parameter in xacro file which will be also prefix to all links except world link and in this case I have to manually adapt yaml files and then I will have only 1 mutual world in RVIZ and transform between joints will be possible.

Is there any other solution which includes having common world, using tf_prefix in robot state publisher node without adapting yaml files?

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