I'm trying to launch two panda robots from the same urdf file but I'm stuck as is giving me parsing errors when I launch two robots together. If I try to launch one it works but not with two (I commented the part in the urdf.xacro code). How can I workaround this issue?
my launch:
<?xml version="1.0"?>
<launch>
<!-- Gazebo & GUI Configuration -->
<arg name="debug" default="false"/>
<arg name="gui" default="true"/>
<arg name="paused" default="true"/>
<arg name="world" default="$(find franka_gazebo)/world/worldTable.world"/>
<arg name="gazebo" default="true" />
<!-- Define arguments to be passed to dual_panda.urdf.xacro -->
<arg name="use_gripper" default="true" />
<arg name="x" default="0" />
<arg name="y" default="0" />
<arg name="z" default="0" />
<arg name="roll" default="0" />
<arg name="pitch" default="0" />
<arg name="yaw" default="0" />
<!-- World launch -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world)"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="use_sim_time" value="true"/>
<arg name="headless" default="false" />
</include>
<!-- Spawn dual panda -->
<param name="robot_description"
command="xacro $(find franka_description)/robots/dual_panda/dual_panda.urdf.xacro
gazebo:=$(arg gazebo)
hand:=$(arg use_gripper)
xyz:='$(arg x) $(arg y) $(arg z)'
rpy:='$(arg roll) $(arg pitch) $(arg yaw)'">
</param>
<node name="spawn" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model panda"/>
</launch>
my urdf.xacro:
<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
<xacro:include filename="$(find franka_description)/robots/common/franka_robot_2.xacro"/>
<!-- Name for this robot -->
<xacro:arg name="arm_id" default="panda_1" />
<!-- Should a franka_gripper be mounted at the flange?" -->
<xacro:arg name="hand" default="false" />
<!-- Positional offset between $(arm_id)_hand -> $(arm_id)_hand_tcp [m]. Only used when hand:=true -->
<xacro:arg name="tcp_xyz" default="0 0 0.1034" />
<!-- Rotational offset between $(arm_id)_hand -> $(arm_id)_hand_tcp [rad]. Only used when hand:=true -->
<xacro:arg name="tcp_rpy" default="0 0 0" />
<!-- Is the robot being simulated in gazebo?" -->
<xacro:arg name="gazebo" default="false" />
<!-- If `gazebo` arg is set, to which frame shall $(arm_id)_link0 be parented. Empty string for not fixing at all -->
<xacro:arg name="parent" default="world" />
<!-- If `gazebo` arg is set and `parent` not empty, what position offset between `parent` & $(arm_id)_link0 -->
<xacro:arg name="xyz" default="0 0.5 1" />
<!-- If `gazebo` arg is set and `parent` not empty, what rotation offset between `parent` & $(arm_id)_link0 -->
<xacro:arg name="rpy" default="0 0 ${-pi/4}" />
<!-- Define offset for panda_1 and panda_2 -->
<arg name="offset_y" default="0.5" />
<xacro:franka_robot arm_id="panda_1"
joint_limits="${xacro.load_yaml('$(find franka_description)/robots/panda/joint_limits.yaml')}"
hand="$(arg hand)"
tcp_xyz="$(arg tcp_xyz)"
tcp_rpy="$(arg tcp_rpy)"
gazebo="$(arg gazebo)"
parent="$(arg parent)"
xyz='0 0.5 0.501'
rpy="$(arg rpy)">
</xacro:franka_robot>
<xacro:franka_robot arm_id="panda_2"
joint_limits="${xacro.load_yaml('$(find franka_description)/robots/panda/joint_limits.yaml')}"
hand="$(arg hand)"
tcp_xyz="$(arg tcp_xyz)"
tcp_rpy="$(arg tcp_rpy)"
gazebo="$(arg gazebo)"
parent="$(arg parent)"
xyz='0 -0.5 0.501'
rpy="$(arg rpy)">
</xacro:franka_robot>
</robot>
and my franka_robot_2 (is the same as the original panda file):
<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="franka_robot" params="arm_id joint_limits parent:='world' xyz:='0 0 0' rpy:='0 0 0' hand:=false gazebo:=false tcp_xyz:='0 0 0.1034' tcp_rpy='0 0 0'">
<xacro:include filename="$(find franka_description)/robots/common/utils.xacro" />
<xacro:include filename="$(find franka_description)/robots/common/franka_arm.xacro" />
<xacro:franka_arm arm_id="${arm_id}" safety_distance="0.03" gazebo="${gazebo}" joint_limits="${joint_limits}"/>
<xacro:if value="${hand}">
<xacro:include filename="$(find franka_description)/robots/common/franka_hand.xacro"/>
<xacro:franka_hand
arm_id="${arm_id}"
rpy="0 0 ${-pi/4}"
tcp_xyz="${tcp_xyz}"
tcp_rpy="${tcp_rpy}"
connected_to="${arm_id}_link8"
safety_distance="0.03"
gazebo="${gazebo}"
/>
</xacro:if>
<!-- Define additional Gazebo tags -->
<xacro:if value="${gazebo}">
<xacro:if value="${parent != ''}">
<!-- Gazebo requires a joint to a link called "world" for statically mounted robots -->
<xacro:if value="${parent == 'world'}">
<link name="${parent}" />
</xacro:if>
<joint name="${parent}_joint" type="fixed">
<origin xyz="${xyz}" rpy="${rpy}" />
<parent link="${parent}" />
<child link="${arm_id}_link0" />
</joint>
</xacro:if>
<xacro:gazebo-joint joint="${arm_id}_joint1" transmission="hardware_interface/PositionJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint2" transmission="hardware_interface/PositionJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint3" transmission="hardware_interface/PositionJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint4" transmission="hardware_interface/PositionJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint5" transmission="hardware_interface/PositionJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint6" transmission="hardware_interface/PositionJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint7" transmission="hardware_interface/PositionJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint1" transmission="hardware_interface/VelocityJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint2" transmission="hardware_interface/VelocityJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint3" transmission="hardware_interface/VelocityJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint4" transmission="hardware_interface/VelocityJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint5" transmission="hardware_interface/VelocityJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint6" transmission="hardware_interface/VelocityJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint7" transmission="hardware_interface/VelocityJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint1" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint2" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint3" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint4" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint5" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint6" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint7" transmission="hardware_interface/EffortJointInterface" />
<xacro:transmission-franka-state arm_id="${arm_id}" />
<xacro:transmission-franka-model arm_id="${arm_id}"
root="${arm_id}_joint1"
tip="${arm_id}_joint8"
/>
<xacro:if value="${hand}">
<xacro:gazebo-joint joint="${arm_id}_finger_joint1" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_finger_joint2" transmission="hardware_interface/EffortJointInterface" />
<!-- Friction specific material for Rubber/Rubber contact -->
<xacro:gazebo-friction link="${arm_id}_leftfinger" mu="1.13" />
<xacro:gazebo-friction link="${arm_id}_rightfinger" mu="1.13" />
</xacro:if>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<controlPeriod>0.001</controlPeriod>
<robotSimType>franka_gazebo/FrankaHWSim</robotSimType>
<robotNamespace>/{arm_id}</robotNamespace>
</plugin>
<self_collide>true</self_collide>
</gazebo>
</xacro:if>
</xacro:macro>
</robot>
