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answered 2017-01-21 06:53:17 -0500

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Implementation

Implementation of the system is explained in the following list (bulleted list explains what is all included in that particular element of the numbered list):

  1. gazebo_multirobot.launch

  2. empty_world.launch (starts Gazebo with empty_world)

  3. view_navigation.launch (starts Rviz)

  4. multirobot.launch (explained in the 2nd element below)

  5. multirobot.launch (Launching one_robot.launch with different namespaces multiple times. One might include as many robots as he/she wants as long as the hardware allows)

  6. one_robot.launch (launches a single robot with a given namespace. Details about what it all includes are given in the 3rd element)

  7. one_robot.launch

  8. kobuki.launch.xml (describes a kobuki robot and what its pose should be in the world)
  9. tf (for necessary transforms between /world and robot_namespace/map)
  10. map_server (loading the map file for a robot)
  11. robot_state_publisher (publishes the state of the robot to tf with given frequency)
  12. move_base_gazebo.launch (starts move_base node with given costmap config files)
  13. amcl.launch.xml (starts amcl node)
  14. laserscan_nodelet_manager (generating fake laserscan messages)

Running the System

Once you have the "multirobot" file in your workspace, open a terminal window and type:

roslaunch multirobot gazebo_multirobot.launch

This should start Gazebo and Rviz with 2 turtlebots unless you edit launch files.

I added 3 navigation buttons in Rviz to easily assign 2D Nav Goal for up to 3 robots. If you need more robots in the system, you can either check 'multirobot->rviz->navigation.rviz' to add more buttons or simply right click on 2d nav goal and check 'tool properties'

Implementation

Implementation of the system is explained in the following list (bulleted list explains what is all included in that particular element of the numbered list):

  1. gazebo_multirobot.launch

  2. empty_world.launch (starts Gazebo with empty_world)

  3. view_navigation.launch (starts Rviz)

  4. multirobot.launch (explained in the 2nd element below)

  5. multirobot.launch (Launching one_robot.launch with different namespaces multiple times. One might include as many robots as he/she wants as long as the hardware allows)

  6. one_robot.launch (launches a single robot with a given namespace. Details about what it all includes are given in the 3rd element)

  7. one_robot.launch

  8. kobuki.launch.xml (describes a kobuki robot and what its pose should be in the world)
  9. tf (for necessary transforms between /world and robot_namespace/map)
  10. map_server (loading the map file for a robot)
  11. robot_state_publisher (publishes the state of the robot to tf with given frequency)
  12. move_base_gazebo.launch (starts move_base node with given costmap config files)
  13. amcl.launch.xml (starts amcl node)
  14. laserscan_nodelet_manager (generating fake laserscan messages)

Running the System

Once you have the "multirobot" file in your workspace, open a terminal window and type:

roslaunch multirobot gazebo_multirobot.launch

This should start Gazebo and Rviz with 2 turtlebots unless you edit launch files.

I added 3 navigation buttons in Rviz to easily assign 2D Nav Goal for up to 3 robots. If you need more robots in the system, you can either check 'multirobot->rviz->navigation.rviz' to add more buttons or simply right click on 2d nav goal and check 'tool properties'

Implementation

Implementation of the system is explained in the following list (bulleted list explains what is all included in that particular element of the numbered list):

  1. gazebo_multirobot.launch

    • empty_world.launch (starts Gazebo with empty_world)

  3. view_navigation.launch (starts Rviz)

  4. multirobot.launch (explained in the 2nd element below)

  5. multirobot.launch (Launching one_robot.launch with different namespaces multiple times. One might include as many robots as he/she wants as long as the hardware allows)

  6. one_robot.launch (launches a single robot with a given namespace. Details about what it all includes are given in the 3rd element)

  7. one_robot.launch

  8. kobuki.launch.xml (describes a kobuki robot and what its pose should be in the world)
  9. tf (for necessary transforms between /world and robot_namespace/map)
  10. map_server (loading the map file for a robot)
  11. robot_state_publisher (publishes the state of the robot to tf with given frequency)
  12. move_base_gazebo.launch (starts move_base node with given costmap config files)
  13. amcl.launch.xml (starts amcl node)
  14. laserscan_nodelet_manager (generating fake laserscan messages)

Running the System

Once you have the "multirobot" file in your workspace, open a terminal window and type:

roslaunch multirobot gazebo_multirobot.launch

This should start Gazebo and Rviz with 2 turtlebots unless you edit launch files.

I added 3 navigation buttons in Rviz to easily assign 2D Nav Goal for up to 3 robots. If you need more robots in the system, you can either check 'multirobot->rviz->navigation.rviz' to add more buttons or simply right click on 2d nav goal and check 'tool properties'

Implementation

Implementation of the system is explained in the following list (bulleted list explains what is all included in that particular element of the numbered list):

  1. gazebo_multirobot.launch

    • empty_world.launch (starts Gazebo with empty_world)
  2. view_navigation.launch (starts Rviz)

  3. multirobot.launch (explained in the 2nd element below)

  4. multirobot.launch (Launching one_robot.launch with different namespaces multiple times. One might include as many robots as he/she wants as long as the hardware allows)

    • one_robot.launch (launches a single robot with a given namespace. Details about what it all includes are given in the 3rd element)

  6. one_robot.launch

    • kobuki.launch.xml (describes a kobuki robot and what its pose should be in the world)
    • tf (for necessary transforms between /world and robot_namespace/map)
    • map_server (loading the map file for a robot)
    • robot_state_publisher (publishes the state of the robot to tf with given frequency)
    • move_base_gazebo.launch (starts move_base node with given costmap config files)
    • amcl.launch.xml (starts amcl node)
    • laserscan_nodelet_manager (generating fake laserscan messages)

Running the System

Once you have the "multirobot" file in your workspace, open a terminal window and type:

roslaunch multirobot gazebo_multirobot.launch

This should start Gazebo and Rviz with 2 turtlebots unless you edit launch files.

I added 3 navigation buttons in Rviz to easily assign 2D Nav Goal for up to 3 robots. If you need more robots in the system, you can either check 'multirobot->rviz->navigation.rviz' to add more buttons or simply right click on 2d nav goal and check 'tool properties'

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