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
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 asROS_MASTER_URI), you should only need to launch the file.yes, that is what i am trying to accomplish
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?
Yes. You just need to point the others to the same instance of rosmaster (invoked by roscore).
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.
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!
yeah, but have you tried it with 2 Allen?
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.