slam smapping multi-robot

Hi everyone, i would like to ask ROS community how to launch one SLAM map file where every turtlebot can have access rather than launch in each turtlebot.

If anyone has experience setting up multiple turtlebots with one master, it would be very useful.

Thank you

Asked by Vinh K on 2015-07-29 12:28:39 UTC

Comments

Do you mean like some sort of network share? The mapping nodes publish on a map topic. As long as you point them all to the same topic (usually map) and they are running on the same master (set as ROS_MASTER_URI), you should only need to launch the file.

Asked by allenh1 on 2015-07-29 15:20:27 UTC

yes, that is what i am trying to accomplish

Asked by Vinh K on 2015-07-29 15:53:20 UTC

so for instance do I just need to run one map file on a robot laptop? And the rest does not need to run the map file?

Asked by Vinh K on 2015-07-29 16:08:21 UTC

Yes. You just need to point the others to the same instance of rosmaster (invoked by roscore).

Asked by allenh1 on 2015-07-30 12:08:07 UTC

so by this would i be able to see a tf tree with multiple children where as if i have 4 turtlebots running I should see a map parent with four children connected.

Asked by Vinh K on 2015-07-30 12:32:49 UTC

Hopefully! I've not done SLAM with multiple robots, so I can only suggest that, theoretically, it might work.But there's only one way to find out!

Asked by allenh1 on 2015-08-02 22:25:13 UTC

yeah, but have you tried it with 2 Allen?

Asked by Vinh K on 2015-08-02 23:11:51 UTC

I have shared the same map between multiple robots before. And when you view a map in RVIZ, you are subscribing to the topic "/map," which is published by whatever slam system you are using.

Asked by allenh1 on 2015-08-03 12:50:41 UTC