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Problem with creating visualization for multimaster ROS system

asked 2017-12-07 11:25:19 -0500

VickyD gravatar image

updated 2017-12-21 17:42:58 -0500

I have 3 turtlebots and one computer to control/ssh them. It's a multimaster ROS system- each turtlebot runs its own rosmaster. I group all the individual robot topics in a group so they get their appropriate namespaces. Ex. turtle01/amcl_pose, etc. Each robot saves a map of my lab area and loads it during startup. I am using multimaster_fkie for this setup.

My questions: Can I create a single rviz file, view all the robots together in one map on my computer and all of them performing amcl to estimate their location?

When I run more than 1 robot on the same map, my robot pose gets messed up. It looks like this.

I am unable to figure out the reason behind this.

When I run the minimal.launch file on each robot, all the topics get the namespace except /tf, /tf_static and /scan. When I launch multiple robots together, won't this create a problem? This is how the topics look like.

dslam@turtlebot01:~$ rostopic list  

Thank you.

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Instead of linking to images of terminal output, can you please copy and paste it here? This helps to keep the question self-contained and has the benefit of being searchable.

jayess gravatar image jayess  ( 2017-12-07 22:02:17 -0500 )edit

I've corrected it now. Thank you for suggesting that!

VickyD gravatar image VickyD  ( 2017-12-08 14:45:24 -0500 )edit

I've given you some karma, can you please see if you can insert your image into your question instead of hosting it externally?

jayess gravatar image jayess  ( 2017-12-08 15:03:21 -0500 )edit

Sure. I wanted to do the same but I didn't have enough karma. Thank you.

VickyD gravatar image VickyD  ( 2017-12-21 17:26:44 -0500 )edit

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answered 2017-12-08 14:59:07 -0500

jayess gravatar image

updated 2017-12-08 15:02:35 -0500

Yes, you can have a single rviz configuration file for viewing all the robots together while each is using amcl to estimate its pose. That's how I do it.

As for the namespace issue, I believe that having the /tf and /tf_static topics not be in their own namepsaces is common. However, you should have each robot's /scan topic be in its own namespace (the same of the robot that is producing the laser scans).

This answer really helped me out with setting up a multi-robot simulation. You can extend these ideas into a configuring up your real-world setup (you'll have to adapt it to fit your multi-master situation). Don't be turned off of the date of the question either, much of it is still applicable.

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@VickyD if this answer solved your question, please mark it as correct by clicking on the check mark.

jayess gravatar image jayess  ( 2017-12-21 17:09:19 -0500 )edit

Yes, you were correct. The tf tree is shared among all the robots. All the topics are under their own namespaces except /tf and /tf_static. One of my node was either incorrectly publishing or subscribing to /scan topic and so I was able to see it in rostopic list output. Thank you!

VickyD gravatar image VickyD  ( 2017-12-21 17:22:49 -0500 )edit

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Asked: 2017-12-07 11:25:19 -0500

Seen: 270 times

Last updated: Dec 21 '17