Closed nicholaschan23 closed 6 months ago
This is likely because the robot_description
LaunchArgument is being declared once and used by both turret description launch files.
We recently added a way to declare multiple robot description launch arguments for the X-Series arms in this PR: https://github.com/Interbotix/interbotix_ros_toolboxes/pull/65. See demo usage in the interbotix_xsarm_dual launch file. You should be able to take what was changed there and apply it to the turrets.
May you add the changes you have in https://github.com/Interbotix/interbotix_ros_toolboxes/pull/65 to the DeclareInterbotixXSTurretRobotDescriptionLaunchArgument
class too?
Let me know if the changes in https://github.com/Interbotix/interbotix_ros_toolboxes/pull/66 work for you.
Yes it works! Thank you for the amazing help as always :smile:
The PR has been merged. Feel free to update your local toolboxes repo and close this issue if your question has been answered.
Question
When launching 2
xsturret_description.launch.py
, they both publish to the same joints. Even though I'm namespacing it with therobot_name_launch_arg
(pxxls_1 and pxxls_2), both robot_descriptions (robot_state_publisher node) are publishing to the same pxxls_1. Is there something I'm doing wrong?Here is my launch file. You'll have to run rviz2 and add the robot models manually and change the fixed frame to one of the base_links.
Robot Model
pxxls
Operating System
Other (Describe in "Anything Else")
ROS Version
Other (Describe in "Anything Else")
Anything Else
Ubuntu 22.04, Humble