roslaunch turtlebot3_gazebo multi_turtlebot3.launch and
rqt to visualise transforms
Issue:
After launching the multi_turtlebot3 and visualising tf_frames which look something like below
Gazebo should broadcast odom to base_footprint frame for each robot which it does not because spawn_model node from gazebo_ros package uses the same urdf for all the robot which does not contain any argument to set odometryFrame and robotBaseFrame. The frames are required for nodes slam_gmapping to produce map for individual robots.
TurtleBot3 platform used - Burger
ROS distro used - ROS 1 Noetic Ninjemys
Reproduction of issue:
roslaunch turtlebot3_gazebo multi_turtlebot3.launchandrqtto visualise transformsIssue: After launching the
multi_turtlebot3and visualising tf_frames which look something like belowGazebo should broadcast odom to base_footprint frame for each robot which it does not because
spawn_modelnode fromgazebo_rospackage uses the same urdf for all the robot which does not contain any argument to setodometryFrameandrobotBaseFrame. The frames are required for nodesslam_gmappingto produce map for individual robots.Expected tf_frame: