Zephyrin's profile - activity

Hi,

The question is number 1 :

How can we connected robot_name/odom -> robot_name/base_footprint on Hydro ?

The question 2 :

How can we connected /map -> /robot_name/odom still on Hydro ?

Question 1: So it's the gazebo plugin's of kobuki ros which it's does not take the namespace of robot. To get two branches robot1/odom -> robot1/basefootprint and robot2/odom -> robot2/basefootprint we need to edit the plugin.

I don't know yet how I can tell to gazebo to use the modified plugin so I make a backup :

mv /opt/ros/hydro/lib/libgazebo_ros_kobuki.so /opt/ros/hydro/lib/libgazebo_ros_kobuki.so.old

Then in my Ros workspace I clone the Git repot :

cd ~/ros_workspace/src
git clone h t t p s : //github.com/yujinrobot/kobuki_desktop.git

Don't have enouth karma to put a link.

Once you have all file you can edit the file locate :

~/ros_workspace/src/kobuki_desktop/kobuki_gazebo_plugins/src/gazebo_ros_kobuki.cpp

For every publisher and subscriber I add

XXX.subscribe(node_name_ + "/XXXX");

Below all the edited file :

/**
 * @author Marcus Liebhardt
 *
 * This work has been inspired by Nate Koenig's Gazebo plugin for the iRobot Create.
 */

#include <cmath>
#include <cstring>
#include <boost/bind.hpp>
#include <sensor_msgs/JointState.h>
#include <tf/LinearMath/Quaternion.h>
#include <gazebo/math/gzmath.hh>
#include "kobuki_gazebo_plugins/gazebo_ros_kobuki.h"

namespace gazebo
{

  enum {LEFT= 0, RIGHT=1};

  GazeboRosKobuki::GazeboRosKobuki() : shutdown_requested_(false)
  {
    // Make sure the ROS node for Gazebo has already been initialized
    if (!ros::isInitialized())
      {
    ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. "
             << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)");
    return;
      }

    // Initialise variables
    wheel_speed_cmd_[LEFT] = 0.0;
    wheel_speed_cmd_[RIGHT] = 0.0;
    cliff_detected_left_ = false;
    cliff_detected_center_ = false;
    cliff_detected_right_ = false;
  }

  GazeboRosKobuki::~GazeboRosKobuki()
  {
    //  rosnode_->shutdown();
    shutdown_requested_ = true;
    // Wait for spinner thread to end
    //  ros_spinner_thread_->join();

    //  delete spinner_thread_;
    //  delete rosnode_;
  }

  void GazeboRosKobuki::Load(physics::ModelPtr parent, sdf::ElementPtr sdf)
  {
    model_ = parent;
    if (!model_)
      {
    ROS_ERROR_STREAM("Invalid model pointer! [" << node_name_ << "]");
    return;
      }
    // Get then name of the parent model and use it as node name
    std::string model_name = sdf->GetParent()->Get<std::string>("name");
    gzdbg << "Plugin model name: " << model_name << "\n";
    nh_ = ros::NodeHandle("");
    // creating a private name pace until Gazebo implements topic remappings
    nh_priv_ = ros::NodeHandle("/" + model_name);
    node_name_ = model_name;

    world_ = parent->GetWorld();
    /*
     * Prepare receiving motor power commands
     */
    motor_power_sub_ = nh_priv_.subscribe(node_name_ + "/commands/motor_power", 10, &GazeboRosKobuki::motorPowerCB, this);
    motors_enabled_ = true;

    /*
     * Prepare joint state publishing
     */
    if (sdf->HasElement("left_wheel_joint_name"))
      {
    left_wheel_joint_name_ = sdf->GetElement("left_wheel_joint_name")->Get<std::string>();
      }
    else
      {
    ROS_ERROR_STREAM("Couldn't find left wheel joint in the model description!"
             << " Did you specify the correct joint name?" << " [" << node_name_ <<"]");
    return;
      }
    if (sdf->HasElement("right_wheel_joint_name"))
      {
    right_wheel_joint_name_ = sdf->GetElement("right_wheel_joint_name")->Get<std::string>();
      }
    else
      {
    ROS_ERROR_STREAM("Couldn't find right wheel joint in the model description!"
             << " Did you specify the correct joint name?" << " [" << node_name_ <<"]");
    return;
      }
    joints_[LEFT] = parent->GetJoint(left_wheel_joint_name_);
    joints_[RIGHT] = parent->GetJoint(right_wheel_joint_name_);
    if (!joints_[LEFT] || !joints_[RIGHT])
      {
    ROS_ERROR_STREAM("Couldn't find specified wheel joints in the model! [" << node_name_ <<"]");
    return;
      }
    joint_state_.header.frame_id = "Joint States";
    joint_state_.name.push_back(left_wheel_joint_name_);
    joint_state_.position.push_back(0);
    joint_state_.velocity.push_back(0 ...