I wanna use multiple stretchs in GAZEBO

[247programmers]

I wanna control 2 stretchs or multiple stretchs.

but there are some reference for 1 fetch.

how can I put many stretchs and how can I control them??

I heard that I have to make "group ns="robot1",,, group ns="robot2" " like that...

but its now working.

there have some error.

"cannot parseURDF"
or
"cannot load controllers"
or
" No p gain specified for pid. "

there are lots of error and I tried many times.

please I wanna get some document for controlling multi stretchs.

does it have some solution of using multiple stretchs in GAZEBO ?

[vatanaksoytezer]

Hello @247programmers thanks for the query! So, we did not try using multiple stretches in gazebo yet, but it should be just as you would do to any other robot. You usually put namespaces in your launch files as you've said <group ns="robot"1> in a scope where you include robot spawn and moveit related launch files.

Do you mind posting your error log, and (if possible) your code to Github, so I can understand what might be the errors you are saying or where it is stemming from.

PS: No p gain specified for pid. is expected and not related with multi robot configuration, it is about Gazebo and ros_control's way of controlling the robot. It should not "break" anything.