Pioneer-3dx robot has been discontinued, however, many universities and institutes are still using them for experiments. To facilitate the simulation in Gazebo for pioneer-3dx, I have decided to make some changes to sidneyrdc p3dx_gazebo. The purpose is to make it better and easier for other users to utilize it. I am aware that there are already many pioneer-3dx gazebo models out there, yet, they are not very well structured. Therefore, my attempt is to follow the husky simulation structure to re-structure the simulation for pioneer-3dx.
Use the launch files starting with multi in p3dx_gazebo to launch multiple pioneer robots in gazebo. Note that the namespace should not have any numbers like 1 but use alphabets instead.
- Robot Namespace:
- Diff_drive_controller parameters (gazebo plugin): http://wiki.ros.org/diff_drive_controller
- Multi robot references: https://answers.ros.org/question/267332/how-to-change-the-robot_description-paramter-for-the-joint_trajectory_controller/https://answers.ros.org/question/263415/simplest-multiple-robot-scenario/ https://answers.gazebosim.org//question/16497/spawning-multiple-robots-each-with-a-controller-in-the-same-namespace-as-the-controller_manager/
- libgazebo_ros_joint_state_publisher: https://github.com/ros-simulation/gazebo_ros_pkgs/blob/melodic-devel/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp
- tf prefix: look at control.launch for more information