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Launching multiple robots in gazebo by namespace

Hi,

This question has been asked multiple times however I didn't find anything actual (e.g. tfprefix is outdated and not needed to adjust anymore). I am trying to launch multiple robots under ROS melodic in Ubuntu 18.04 in the same gazebo environment by namespacing. I have a gazebo environment (emptyworld) that is outside the namespaces and a moveit_config package that I launch inside namespace /robot1 by launching demogazebo.launch with this namespace. The gazebo.launch file inside the moveit package is adjusted so that it does not launch the environment or the roscontrollers launch file, just the spawnmodel node is left inside. Now, the problem is that the moveit is looking for controllers inside namespace /robot1/robot/armcontroller while the controllers are launched within topics /robot1/armcontroller. I have set up the controllers following this, that is also where the second namespace robot comes from. Following this, worked for the demogazebo.launch file, so it is definitely something with the namespacing.

Any help is appreciated!

Asked by carlosg on 2020-11-21 11:44:58 UTC

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