nav2d real map build with multiple robots

Hello, in tutorial 4 (from nav2d Build a map with multiple robots simultaneously) is a paragraph that describes how to share the karto in and karto out to another roscore or robot. I'm using Ros kinetic and the ros-rt-wmp package doesn't want to compile in this Rosversion. So I'm a little clueless how to exchange the data from the topics. Is there for Ros kinetic a package which i can use? For clarification(what i'm using):

Ubuntu 16.04
Ros kinetic
2x Turtlebot3 Burger
Seperate WIFI for the Turtlebots without another interference source

The mapping and navigation for one robot works without problems. Thanks in advance for your help.

Ps: Sorry for my bad english.

Asked by DeMoy23 on 2019-01-11 15:21:52 UTC

Comments

What tutorial? Please update your question with a link to the tutorial

Asked by jayess on 2019-01-11 17:16:52 UTC

Answers

You said you are using the ros-rt-wmp package. With this it should be possible to share topics between robots (with separate ros-core's). So you can create a shared scan topic via ros-rt-wmp and use it to connect mappers on different robots.

Asked by Sebastian Kasperski on 2019-01-14 07:02:02 UTC

Comments

Sorry I was meaning it doesn't compile so ros-rt-wmp doesn't working in my case.

Asked by DeMoy23 on 2019-01-14 07:11:08 UTC

In this case you would need some other means of sharing topics between systems. Or find out why ros-rt-wmp is not working. I previously used DDS together with a custom bridge node to share scans between mapper instances, but I can't really recommend this solution.

Asked by Sebastian Kasperski on 2019-01-14 08:11:08 UTC

Maybe search/ask here at ros-aswers for what other possibilities exist to communicate between roscores.

Asked by Sebastian Kasperski on 2019-01-14 08:12:21 UTC