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Launching demo_gazebo.launch

asked 2020-10-27 11:01:32 -0600

carlosg gravatar image

Hi,

I am trying to launch my MoveIt generated launch file "demo_gazebo.launch" under a namespace. The launch file is completely working when launched without a namespace, however the robot model does not get launched in Gazebo when launched under a namespace. I have figured out the reason might be the robot_description parameter, which is loaded under the namespace too and therefore not accessible by the gazebo spawn_model node which is still trying to load the "robot_description" parameter. I have tried out the solutions mentioned here but was not successful. I was expecting that the definition of this parameter outside of the namespace would solve it but I always get to the point where gazebo waits for the spawn urdf model service. Note that empty_world.launch is launched before calling the spawn_model node, therefore the service should be up.

Any help is appreciated!

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answered 2020-10-28 10:53:26 -0600

carlosg gravatar image

Ok I found out that there is a paramter for gazebo_ros_control plugin that needs to be changed when robot_description is launched inside a namespace, that fixes it. Besides that there could be issues with the spawn_model service, which is launched inside a namespace and therefore not visible for the node that spawns the model. Maybe namespacing the node too would solve this, for me its enough to launch the whole gazebo environment outside of the namespace.

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Asked: 2020-10-27 11:01:32 -0600

Seen: 26 times

Last updated: Oct 28