Running two quads with hector_quadrotor_gazebo
Hello -- I'm trying to run two quads in simulation using hector_quadrotor_gazebo. I have been able to modify things such that each quad is in a seperate namespace and start at different locations. However, the /calibrate service does not get assigned to a different namespace. I end up with the following behavior:
1) I launch a world with a single quad, I'm able to control it with my gamepad through hector_quadrotor_teleop
2) I launch the second quad in the seperate namespace, and the first quad then starts up towards the sky with about 3 m/s of linear/z velocity. I get an error message in my original roslaunch terminal window:
[ERROR] [1348353951.598192355, 41.102000000]: Tried to advertise a service that is
already advertised in this node [/calibrate]
Neither quad is controllable via teleop/cmd_vel anymore.
I'm not sure if this /calibrate issue is the problem. I can't figure out which bit of code is setting up the /calibrate service. I did rosservice info on it:
sameer@ubuntu:~/rosinstall-test/here$ rosservice info /calibrate
Node: /gazebo
URI: rosrpc://ubuntu:38106
Type: std_srvs/Empty
Args:
Anyone have an idea or a direction I can go to figure out what is happening? Thanks!