slam smapping multi-robot

asked 2015-07-29 12:28:39 -0500

Vinh K gravatar image

updated 2015-07-31 12:38:53 -0500

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

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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.

allenh1 gravatar image allenh1  ( 2015-07-29 15:20:27 -0500 )edit

yes, that is what i am trying to accomplish

Vinh K gravatar image Vinh K  ( 2015-07-29 15:53:20 -0500 )edit

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?

Vinh K gravatar image Vinh K  ( 2015-07-29 16:08:21 -0500 )edit

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

allenh1 gravatar image allenh1  ( 2015-07-30 12:08:07 -0500 )edit

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.

Vinh K gravatar image Vinh K  ( 2015-07-30 12:32:49 -0500 )edit

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!

allenh1 gravatar image allenh1  ( 2015-08-02 22:25:13 -0500 )edit

yeah, but have you tried it with 2 Allen?

Vinh K gravatar image Vinh K  ( 2015-08-02 23:11:51 -0500 )edit

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.

allenh1 gravatar image allenh1  ( 2015-08-03 12:50:41 -0500 )edit