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iRobotEducation / create3_sim

ROS 2 Simulation for the iRobot® Create® 3 Educational Robot
BSD 3-Clause "New" or "Revised" License
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Support for docking with multiple robots and multiple docks #90

Open rjcausarano opened 2 years ago

rjcausarano commented 2 years ago

This was proposed in PR#66 but was postponed for a future PR

Retrieve docks with:

const std::string robot_name = model->GetName();
const std::vector<std::string> docks_names = RetrieveDocksNames(world_);

Where RetrieveDocksNames should be hosted in gazebo_ros_helpers:

std::vector<std::string> RetrieveDocksNames(const gazebo::WorldPtr & world) { std::vector<std::string> docks_names; for(const gazebo::ModelPtr& model : world->Models()) { const std::string model_name = model->GetName(); // If model_name ends with "_dock" docks_names.push_back(model_name); } return docks_names; }

moutalibbadr commented 2 years ago

Hi, Is spawning multiple robots supported?

alsora commented 2 years ago

@moutalibbadr not yet, however there's a draft PR in progress: https://github.com/iRobotEducation/create3_sim/pull/176