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Hey, I'm using Indigo for a project involving swarms of robots. I want to be able to spawn and control multiple of the same URDF into Gazebo. I've been attempting to use the RRBot (from this tutorial: http://gazebosim.org/tutorials/?tut=ros_control) for this purpose.

I open Gazebo with one RRBot as such:

roslaunch rrbot_gazebo rrbot_world.launch

And then are able to control it with the topics that this line loads in:

roslaunch rrbot_control rrbot_control.launch

However, if I load more RRBots into the simulation with different model names and namespaces as with:

rosrun gazebo_ros spawn_model -file `rospack find rrbot_description`/urdf/rrbot.xml -urdf -y 1 -model rrbot2 -robot_namespace rrbot2

There are: a) No topics displayed with which to control the newly spawned rrbot2, b) Naming conflicts such as the one below:

[ERROR] [1469970215.112663786, 27.972000000]: Tried to advertise a service that is already advertised in this node [/rrbot/controller_manager/list_controllers]

Is there a way to spawn multiple of the same URDF that can be independently controlled and not cause conflicts? Any feedback would be much appreciated.


Originally posted by RHolland on ROS Answers with karma: 16 on 2016-07-31

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This repository has an excellent demo of a robot swarm: https://github.com/nevinvalsaraj/swarm-gazebo-simulator

It uses an SDF so works well with Gazebo.


Originally posted by RHolland with karma: 16 on 2016-08-04

This answer was ACCEPTED on the original site

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