search

vislab-tecnico-lisboa / ardrone_gazebo

Gazebo simulator test environment for the Parrot ArDrone. The world is a simulated version of the ISR 7th floor. The ArDrone model is based on the implementation of a gazebo simulator for the Ardrone 2.0 written by Hongrong Huang and Juergen Sturm of the Computer Vision Group at the Technical University of Munich (http://wiki.ros.org/tum_simulator).
15 stars 12 forks source link

Simulating multiple drones #6

Closed Hurisa closed 5 years ago

Hurisa commented 5 years ago

Hi,

I am trying to simulate mulitple parrots, and it appears that some of your commits might have fixed that, but I get an error, when trying to do so.

I am changing the ardrone_vislab.launch to include the following. But it appears the namespace is not being passed on to the next .launch file

 <group if="$(arg spawn_drone)" ns="quadrotor">
  <!-- Spawn simulated quadrotor uav -->
    <include file="$(find ardrone_vislab_gazebo)/launch/spawn_quadrotor.launch" >
            <arg name="model" value="$(find ardrone_vislab_description)/urdf/quadrotor_sensors.urdf.xacro"/> 
    </include>
  </group>

    <group if="$(arg spawn_drone)" ns="quadrotor2">
  <!-- Spawn simulated quadrotor uav -->
    <include file="$(find ardrone_vislab_gazebo)/launch/spawn_quadrotor.launch" >
            <arg name="model" value="$(find ardrone_vislab_description)/urdf/quadrotor_sensors.urdf.xacro"/> 
    </include>
  </group>

The error I get is SpawnModel: Failure - model name quadrotor already exists.

Any thoughts of what might be missing?

Cheers, Hugo

Hurisa commented 5 years ago

Ok,

I managed to pass the namespace as an argument. Had to change the spawn though... I'll fork your repo and add a link here to the changed version. If you you want I can also create a pull request but I ended up deleting all the packages with aruco, and I am only using exactly what I need.

Great job with the cvg_gazebo plugins!

Hurisa commented 5 years ago

Here it is https://github.com/Hurisa/ardrone_gazebo