Networking 2 turtlebots

asked 2014-07-22 11:57:09 -0500

choog gravatar image


I am trying to network 2 turtlebots together. I have a basic understanding of remapping but I am not sure how to combine all of this knowledge so that 2 turtlebots can be networked together.

I have a workstation laptop with ros installed and I have successfully networked 1 turtlebot with the workstation. I have networked the other turtlebot to the workstation as well. But I don't know how to network both simultaneously at once.

I see from other posts that I can remap some of the enviroments so that I can read specific nodes and topics for each turtlebot. For my purposes though I need to be able to read a topic off turtlebot1. Then, I have created a c++ node that is going to take this information and perform some calculations to this data read off turtlebot1. ( I have no problem with any of this.) However, I need for this information to be published to a topic on turtlebot2. This is where I am having issues, I need for this information to be sent to the second turtlebot as soon as it is read off the first turtlebot.

I know I have to remap the variables somehow so that I read the /turtlebot1/base_link topic first. Then the node is going to be running on my workstation and basically it is going to perform some calculations to this information read off the /turtlebot1/base_link. Then, I need for this calculated values to be passed to the /turtlebot2/cmd_vel_mux simultaneously.

My question is, how do I remap or use namespaces to change specific topic names at the time that I launch the turtlebots with the roslaunch turtlebot_bringup minimal.launch command. If I need to rename them another way if someone could just give me insight as to how to remap or rename this topics. Also, I have no idea how to network 2 turtlebots at once to 1 workstation.

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