Closed epsilon11101 closed 4 years ago
From one computer, you should be able to launch multiple instances of ca_driver
for each robot.
For example, after connecting the robots to your computer, you should be able to see each in the devices list:
$ ls /dev/ttyUSB*
/dev/ttyUSB0
/dev/ttyUSB1
Once you've identified the device paths, you can create a custom parameter file for each robot, changing the dev
parameter (see the default.yaml for an example). You should probably update the base_frame
and odom_frame
values for each robot so that they don't clash. Then you can load the parameters in a launch file (see example launch file.
You should also namespace the driver node for each robot so they do not clash. You can do this by adding a ns
attribute to the node tag in your launch file.
thanks for the fast response :) ,It worked perfectly :)! , what's a ns attribute? ,and Another question, what would be the way to read the odometry of each roomba independently?
i solve it with ns! (namespace) thanks a lot! <3
happy to help!
I'm trying to do it, but I don't know what the way is, I know that the issues are not for this, but I don't find an answer on the other hand