I want to spawn 'n' robots in Gazebo and all use the differential drive controller.
My yaml file is below. I am calling gazebo_ros2_control from the xacro file. This part of my xacro is also added below.
The problem is as follows:
left_wheel_names and right_wheel_names parameters are required to be written in the yaml file. These names are dependent on the namespaces of the robots. Like so, left_wheel_names: ['robot_ns/front_left_wheel', 'robot_ns/rear_left_wheel']. I believe this cannot be passed dynamically through the yaml file but can be through the xacro.
This issue did not occur with the base_frame_id and the odom_frame_id parameters since I used the "/**" at the start of the yaml and the frame_id was automatically set to "robot_ns/base_link". Can something similar to this be done for the left_wheel_names and the right_wheel_names?
I want to spawn 'n' robots in Gazebo and all use the differential drive controller. My yaml file is below. I am calling gazebo_ros2_control from the xacro file. This part of my xacro is also added below. The problem is as follows: left_wheel_names and right_wheel_names parameters are required to be written in the yaml file. These names are dependent on the namespaces of the robots. Like so, left_wheel_names: ['robot_ns/front_left_wheel', 'robot_ns/rear_left_wheel']. I believe this cannot be passed dynamically through the yaml file but can be through the xacro. This issue did not occur with the base_frame_id and the odom_frame_id parameters since I used the "/**" at the start of the yaml and the frame_id was automatically set to "robot_ns/base_link". Can something similar to this be done for the left_wheel_names and the right_wheel_names?
yaml file is called in the xacro as follows:
the yaml file is as follows