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8 Comments

  1. Harsh Patel Harsh Patel

    Hello Saurav,

    First off, great tutorial, especially for a starter like me; thank you.

    I have a question, I am trying to make a launch file that launches multiple of these roombas in gazebo, but I am getting really confused. The online tutorials are confusing, is there a simple way to launch a bunch of roombas at once, and position them in gazeebo?

    Thank you,
    Harsh

    • sauravagarwal sauravagarwal

      Thanks Harsh :), I am glad you found it useful. Can you please share the launch file that you have created. I have never personally tried to use a launch file to spawn models in gazebo. The spawn_model script makes a service request to gazebo. You can modify this script and spawn multiple robots in the same gazebo instance. I think this page might be useful -> buy Seroquel epharmacist

      • nunes012@umn.edu nunes012@umn.edu

        I know that this is relatively old, but my brief search has led me to think that when using ROS launch to launch gazebo robot models it still expects to use the urdf format, instead of the sdf model. I am not certain that there is a direct way to launch sdf files. If someone has references for that, I would be grateful if you would point me to it.

          • Ernesto Ernesto

            Good point. I haven’t. By the way, thanks for putting these notes together. Truly appreciated.

  2. Jasper Oostdam Jasper Oostdam

    Hello Saurav,

    Thanks for this great tutorial, it’s very easy to follow, but I can’t seem to get the robot to move. It succesfully spawns in Gazebo, but it doesn’t move at all when I send the ros commands. The robot does seem to receive the commands from ros, because when I remove certain pieces of code (such as the … snippets from the left and right wheels), it does move, but in those cases the entire robot starts to spin out of control or even launch itself into the air instead of just moving forward. I followed a different tutorial for a much simpler differential drive robot (Seroquel buy online) and this one does drive normally.

    I am using ROS Jade and Gazebo 5.1.0. Do you have any idea why the robot doesn’t move, and is it supposed to work with my versions of ROS and Gazebo? Thanks a lot in advance!

    Best regards,
    Jasper

    • Jasper Oostdam Jasper Oostdam

      By the way, those snippets I was talking about were the “inertial” tags in the links of the left and right wheels, it was one of the many things I tried to change or remove to make the robot work. The problem seems to be part of the left and right wheels, but I’m not sure where exactly (the links, the joints etc.).
      Update: I uninstalled ROS and Gazebo and installed your versions (Indigo + Gazebo 2.2) instead and it worked. Thanks again for the great tutorial!

      • sauravagarwal sauravagarwal

        Happy to know you found it useful Jasper! I haven’t yet found the time to update to Jade and Gazebo 5.1 so I have no idea what changes are needed.
        Thanks for sharing your experience, an updated tutorial for Jade is on my to-do list:)

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