Rviz and Namespaces with explore_lite
Hello! I am attempting to run multiple turtlebot3s on my Ubuntu16.02 using the package explore_lite. My current strategy is to use namespaces to launch individual robots,
- after
roscore
, starting on my ssh turtlebot withROS_NAMESPACE=tb3_1 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb3_1" set_lidar_frame_id:="tb3_1/base_scan"
, - followed by
ROS_NAMESPACE=tb3_1 roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping multi_robot_name:=tb3_1
. - Problems arise after the following move_base launch command :
ROS_NAMESPACE=tb3_1 roslaunch turtlebot3_navigation move_base.launch multi_robot_name:=tb3_1
which throws the errorCostmap2DROS transform timeout [...] Could not get robot pose, cancelling reconfiguration
I tried to go into global_costmap_params.yaml and change the global_frame from /map to /tb3_1/map , but I was given an error saying that 'target_frame tb3_1/map does not exist`. Any tips are greatly appreciated! Thank you!