psr_21-22
psr_21-22 copied to clipboard
Published
20 hours ago •
miguelriemoliveira
miguelriemoliveira
Problem Launching Multiple Robots
Good nigth teatcher @miguelriemoliveira I'm not being able to launch multiple robots. I can change the color from the command line but not the name
here is my bringup.launch:
<launch>
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="player_name" default = "p_amartinho"/>
<arg name="player_color" default="Yellow" />
<arg name="x_pos" default="0.0"/>
<arg name="y_pos" default="-1.5"/>
<arg name="z_pos" default="0.0"/>
<group ns= "$(arg player_name)">
<param name="tf_prefix" value="$(arg player_name)"></param>
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find p_amartinho_description)/urdf/player.urdf.xacro' player_name:=$(arg player_name) player_color:=$(arg player_color)"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
</group>
<!-- include do spawn.launch -->
<include file="$(find p_amartinho_bringup)/launch/spawn.launch">
<arg name="player_name" value="$(arg player_name)"/>
<arg name="x_pos" value="$(arg x_pos)"/>
<arg name="y_pos" value="$(arg y_pos)"/>
<arg name="z_pos" value="$(arg z_pos)"/>
</include>
<!-- include do visualize.launch -->
<include file="$(find p_amartinho_bringup)/launch/visualize.launch">
</include>
<!-- include do teleop.launch -->
<!-- <group ns= "$(arg player_name)"> -->
<!-- <node pkg="rqt_robot_steering" type="rqt_robot_steering" name="teleop_rqt" output="screem"> -->
<!-- <param name="default_topic" value="/$(arg player_name)/cmd.vel"></param> -->
<!-- </node> -->
<!-- </group> -->
</launch>
Hi @Analtino2021 ,
can you post your urdf.xacro? I think you may be missing the arg player_name there.
This is my player.urdf.xacro
<?xml version="1.0" ?>
<robot name="p_amartinho" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- Xacro description of turtlebot robot waffle pi used to play team hunt.-->
<!-- Analtino Martinho-->
<!-- PSR, January 2021-->
<!--Args are local, properties are global, so we copy the values of the arguments to the properties-->
<xacro:arg name="player_name" default="p_amartinho" />
<xacro:arg name="player_color" default="Yellow" /> <!-- e.g. Red, Orange. Must exist in Gazebo/Colors and be defined in properties.xacro.-->
<!--Properties are global so they can be viewed from inside the included xacros-->
<!-- args are used with $(arg arg_name), properties are used as ${property_name}-->
<xacro:property name="player_name" value="$(arg player_name)"/>
<xacro:property name="player_color" value="$(arg player_color)"/>
<!-- Include other files-->
<xacro:include filename="$(find ${player_name}_description)/urdf/properties.xacro"/>
<!-- <xacro:include filename="$(find ${player_name}_description)/urdf/player.gazebo.xacro"/>-->
<xacro:include filename="$(find ${player_name}_description)/urdf/player.gazebo.macro.xacro"/>
<xacro:gazebo_macro player_color="${player_color}" laser_visual="true" camera_visual="false" imu_visual="true"/>
<!-- (...) -->
<link name="base_footprint"/>
<joint name="base_joint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link" />
<origin xyz="0 0 0.010" rpy="0 0 0"/>
</joint>
<link name="base_link">
<visual>
<origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/bases/waffle_pi_base.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="light_black"/>
</visual>
<collision>
<origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
<geometry>
<box size="0.266 0.266 0.094"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.3729096e+00"/>
<inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
iyy="8.6195418e-03" iyz="-3.5422299e-06"
izz="1.4612727e-02" />
</inertial>
</link>
<joint name="wheel_left_joint" type="continuous">
<parent link="base_link"/>
<child link="wheel_left_link"/>
<origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<link name="wheel_left_link">
<visual>
<origin xyz="0 0 0" rpy="1.57 0 0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.018" radius="0.033"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" />
<mass value="2.8498940e-02" />
<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
iyy="1.1192413e-05" iyz="-1.4400107e-11"
izz="2.0712558e-05" />
</inertial>
</link>
<joint name="wheel_right_joint" type="continuous">
<parent link="base_link"/>
<child link="wheel_right_link"/>
<origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<link name="wheel_right_link">
<visual>
<origin xyz="0 0 0" rpy="1.57 0 0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.018" radius="0.033"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" />
<mass value="2.8498940e-02" />
<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
iyy="1.1192413e-05" iyz="-1.4400107e-11"
izz="2.0712558e-05" />
</inertial>
</link>
<joint name="caster_back_right_joint" type="fixed">
<parent link="base_link"/>
<child link="caster_back_right_link"/>
<origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
</joint>
<link name="caster_back_right_link">
<collision>
<origin xyz="0 0.001 0" rpy="0 0 0"/>
<geometry>
<box size="0.030 0.009 0.020"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" />
<mass value="0.005" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
</link>
<joint name="caster_back_left_joint" type="fixed">
<parent link="base_link"/>
<child link="caster_back_left_link"/>
<origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
</joint>
<link name="caster_back_left_link">
<collision>
<origin xyz="0 0.001 0" rpy="0 0 0"/>
<geometry>
<box size="0.030 0.009 0.020"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" />
<mass value="0.005" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="base_link"/>
<child link="imu_link"/>
<origin xyz="0.0 0 0.068" rpy="0 0 0"/>
</joint>
<link name="imu_link"/>
<joint name="scan_joint" type="fixed">
<parent link="base_link"/>
<child link="base_scan"/>
<origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
</joint>
<link name="base_scan">
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
<collision>
<origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
<geometry>
<cylinder length="0.0315" radius="0.055"/>
</geometry>
</collision>
<inertial>
<mass value="0.114" />
<origin xyz="0 0 0" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
</link>
<joint name="camera_joint" type="fixed">
<origin xyz="0.073 -0.011 0.084" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
<link name="camera_link">
<collision>
<origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
<geometry>
<box size="0.015 0.030 0.027"/>
</geometry>
</collision>
</link>
<joint name="camera_rgb_joint" type="fixed">
<origin xyz="0.003 0.011 0.009" rpy="0 0 0"/>
<parent link="camera_link"/>
<child link="camera_rgb_frame"/>
</joint>
<link name="camera_rgb_frame"/>
<joint name="camera_rgb_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
<parent link="camera_rgb_frame"/>
<child link="camera_rgb_optical_frame"/>
</joint>
<link name="camera_rgb_optical_frame"/>
</robot>
I think the error is here. You have this:
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find p_amartinho_description)/urdf/player.urdf.xacro' player_name:=$(arg player_name) player_color:=$(arg player_color)"/>
and I have this:
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find p_amartinho_description)/urdf/player.urdf.xacro player_name:=$(arg player_name) player_color:=$(arg player_color)"/>
Notice I removed two '
OK, still not sure what's wrong.
In your player.urdf.xacro you are calling the macro player.gazebo.macro.xacro
<!-- <xacro:include filename="$(find ${player_name}_description)/urdf/player.gazebo.xacro"/>-->
<xacro:include filename="$(find ${player_name}_description)/urdf/player.gazebo.macro.xacro"/>
<xacro:gazebo_macro player_color="${player_color}" laser_visual="true" camera_visual="false" imu_visual="true"/>
Can you try without the macro, i.e., uncommenting the first line and commenting the last two.