I am trying to run two Turtlebots in Gazebo and have one observe the other. I encountered the common error of one of the turtlebots only showing up as wheels, but by using a hack I am able to see both Turtlebots fully by closing the Gazebo GUI and reopening it again with rosrun gazebo gui.
The problem arises when I try to have one robot observe the other using its kinect and RVIZ. I can see the topics /camera/image_raw and /camera/depth/points (no namespace) from the turtlebot that originally fully appeared in gazebo. The other robot, though, appears only as wheels in RVIZ even though it is fully visible in Gazebo!
I figure there is two ways of solving this. 1) Actually remedying the problem of one of the Turtlebots not fully appearing originally in Gazebo instead of using the hack(which I have no idea how to do) 2) Observe the Turtlebot that fully appears from the others Kinect. There are topics /robot1/depth/image_raw and /robot1/depth/camera_info being published (and similarly for robot2) but when I set the topic to /robot1/depth/image_raw RVIZ looks for camerainfo on /robot2/depth/camera_info and vice versa and says no camerainfo received. I get just an image of a horizontal white line.
These probably coincide but I am hoping some of you know better than me. I am using the following launch file to launch the Gazebo world with the 2 turtlebots in it simultaneously:
Where robot1 and robot2.launch are identical files except for the robots and nodes use different namespaces so that I can control the robots separately, and I have successfully written a teleop node to allow me to do this.
So how can I have one Turtlebot observe the other (not just its wheels)? Any ideas would be appreciated.
Thanks for your help!
So here is the list of topics being published or subscribed:
As you can see, I have the majority of topics specify for which robot they belong, but not the /camera topics. So, I guess the questions I need to be asking are:
What Gazebo plugin(s) are responsible for publishing the /camera topics? I figure I can use namespaces in them in order to specify to RVIZ which robot's camera feed I want to see.
Why isn't the whole Turtlebot showing up in RVIZ and how can I fix it?
Thanks again! -Alan
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