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Hi all, Now I'm running with Ubuntu 16.04, ROS kinetic (ROS1) I also working with my Gazebo multi ridgeback robots by modifying the ridgeback_simulation But the problem is I don't know how to let EKF localization node works for multiple robots. The similar question has mentioned here since 2016 similar_q. From my understanding, to make multiple EKF localization node we have to edit frameID from gazebo xacro file and put name space, tf_prefix for them. But finally, I still cannot do it with my ridgeback. The problem is it show that

Could not obtain transform from robot_1/base_link to /base_link. Error was "robot_1/base_link" passed to lookupTransform argument target_frame does not exist

Finally, I have found that someone can do it with multiple Husky robots simulation.multi_husky_explanation and the git repo here multi_husky_git_repo. So, I have downloaded the original Husky package and try to run the multihusky launch file. And found that

1. The kinect URDF file locazation was changed. So I have edit the mhusky.gazebo.xacro only one line as following
   <xacro:include filename="$(find husky_description)/urdf/accessories/kinect_camera.urdf.xacro"/>
2. When I launch the multihusky.launch. I have found the error below re/src/nre_simmultihusky/xacro/mhusky.gazebo.xacro' laser_enabled:=true ur5_enabled:=false kinect_enabled:=false nsp:=h1 tfpre:=h1_tf ] returned with code [2]. Param xml is <param command="$(find xacro)/xacro.py --inorder '$(find nre_simmu ltihusky)/xacro/mhusky.gazebo.xacro' laser_enabled:=$(arg laser_enabled ) ur5_enabled:=$(arg ur5_enabled) kinect_enabled:=$(arg kinect_ enabled) nsp:=$(arg namespace) tfpre:=$(arg tfpre) " na me="robot_description"/> The traceback for the exception was written to the log file

According to the multihusky repo, they give TF tree shown that multiple EKF nodes can work properly here nre_simmultihusky wiki. So my question is how I can run this file to understand how they create multiple EKF localization node. Please help me!!

How to make ekf localization node for multiple ridgeback robots Hi all, Now I'm running with Ubuntu 16.04, ROS kinetic (