问题
I want to launch multiple turtlebots using Gazebo, and move each one from them separately with cmd_vel_mux topic. Namely, I would like to send message to topic {robot_name)/cmd_vel_mux. However, I have just publishers to these topics in my code (because I have code that each robot runs that publishers to this topic). But, I have no subscribers to these topics. Therefore, gazebo is launched but the robots doesn't move.
I tried to launch mobile_base_nodelet_manager from ros nodelet package for each robot by adding to each robot launch file:
<node name="mobile_base_nodelet_manager" pkg="nodelet" type="nodelet" args="manager"/>
but I still didn't see subscribers to {robot_name}/cmd_vel_mux topics.
How can I solve this? Thanks in advance!
来源：https://stackoverflow.com/questions/55875980/robotics-move-multiple-turtlebots-separately