[Turtlebot3] show multi-robot in one map RVIZ
Hello, I'm working with multiple turtlebot3 (physically), I can successfully bring up and teleop as many as I want (3 until now, theoretically N ) using the namespace configuration. However, after building a map using one of them, if I want to show them on the same map, I haven't been able to make it work in RVIZ.
Have spent a lot of time on this without being able to solve it, so that's the reason I come over here looking up for help. If I need to provide further information please let me know. Thanks.
UPDATE: I've fresh installed both robot and PC, just to avoid a configuration problem...
My launch files:
turtlebot3_remote.launch
<!-- Soli Deo Gloria -->
<launch>
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="multi_robot_name" default=""/>
<include file="$(find turtlebot3_bringup)/launch/includes/description.launch.xml">
<arg name="model" value="$(arg model)" />
</include>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="50.0" />
<param name="tf_prefix" value="$(arg multi_robot_name)"/>
</node>
<!-- AMCL -->
<include file="$(find turtlebot3_navigation)/launch/amcl.launch">
<arg name="scan_topic" value="/scan"/>
<arg name="odom_topic" value="$(arg multi_robot_name)/odom"/>
<arg name="base_topic" value="$(arg multi_robot_name)/base_footprint"/>
<arg name="initial_pose_x" value="-2.0"/>
<arg name="initial_pose_y" value=" 0.5"/>
<arg name="initial_pose_z" value=" 0.0"/>
</include>
</launch>
Loaded with: $ ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_bringup turtlebot3_remote.launch multi_robot_name:="tb3_0"
(Now I'm loading each robot separately)
turtlebot3_navigation.launch
<!-- Soli Deo Gloria -->
<launch>
<!-- Arguments -->
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="map_file" default="$(find turtlebot3_navigation)/maps/map.yaml"/>
<arg name="open_rviz" default="true"/>
<!-- Map server -->
<node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>
<!-- rviz -->
<group if="$(arg open_rviz)">
<node pkg="rviz" type="rviz" name="rviz" required="true"
args="-d $(find turtlebot3_navigation)/rviz/turtlebot3_nav.rviz"/>
</group>
</launch>
Loaded with: $ roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map20181108.yaml
amcl.launch
<!-- Soli Deo Gloria -->
<launch>
<!-- Arguments -->
<arg name="scan_topic" default="scan"/>
<arg name="odom_topic" default="odom"/>
<arg name="base_topic" default="base_footprint"/>
<arg name="initial_pose_x" default="0.0"/>
<arg name="initial_pose_y" default="0.0"/>
<arg name="initial_pose_z" default="0.0"/>
<!-- AMCL -->
<node pkg="amcl" type="amcl" name="amcl">
<param name="min_particles" value="500"/>
<param name="max_particles" value="3000"/>
<param name="kld_err" value="0.02"/>
<param name="update_min_d" value="0.20"/>
<param name="update_min_a" value="0.20"/>
<param name="resample_interval" value="1"/>
<param name="transform_tolerance" value="0.5"/>
<param name="recovery_alpha_slow" value="0.00"/>
<param name="recovery_alpha_fast" value="0.00"/>
<param name="initial_pose_x" value="$(arg initial_pose_x)"/>
<param name="initial_pose_y" value="$(arg initial_pose_y)"/>
<param name="initial_pose_a" value="$(arg initial_pose_z)"/>
<param name="gui_publish_rate" value="50.0"/>
<remap from="scan" to="$(arg scan_topic)"/>
<param name="laser_max_range" value="3.5"/>
<param name="laser_max_beams" value="180"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_likelihood_max_dist" value="2.0 ...
Can you detail what is the actual error here ? Is it roslaunch failing to launch all the nodes or is it just the result in rviz not expected ? That could help us a lot to help you. (And the rviz config isn't that relevant, a screenshot of rviz would do)
But with all your
grouptags it could only be a remapping issue (not the right topics subscribed to). There is also this in your AMCL nodes :<arg name="set_scan" value="$(arg ns_r0)/scan" />, since you are in the group$(arg ns_r0)then<arg name="set_scan" value="scan" />should be enoughThanks Delb, made the edit and the fixes to amcl nodes... still same problem.... can't find out why the map frame is not being published. The $ rostopic list shows it.
Thanks for the edit. Do you have only the
/maptopic or also/tb3_0/mapand/tb3_1/map? If you could also provide thetf_treeand therostopic listthat would be great.No, I only have (or at least supposed to have) /map frame, if my understanding is correct I'd need /tb3_n/map if I would be working with more than one map at a time?. Added the tf_tree, rostopic list and also the roswtf output, btw... the latter output caught my attention for the last: WARNING
You have to connect
mapto/tb3_0/odomand also/tb3_1/odomto make things work. Can you check with$rosparam listif there is :/tb3_0/amcl/global_frame_idand then withrosparam get /tb3_0/amcl/global_frame_idif it returnsmap? Same withtb3_1.For the
robot_state_publisherit's weird thatroswtfsays that the node died but in the tf_tree thetfare broadcasted by this node. That might comes from how you launchturtlebot3_remote.launch.Since the param
multi_robot_namealready settf_prefixI would put the whole<include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">outside the<group ns = "$(arg ns_r1)">(same fortb3_0)no global_frame_id, only: base_frame_id, gui_publish_rate, initial_pose_a x & y, odom_alpha1~4, odom_frame_id, odom_model_type, transform_tolerance. and others that belong to amcl algorithm only. The ouput of rosparam get .../base_frame_id yields: base_footprint.
Can you show in your question the full output of
rosparam listplease ? That's odd because you should definetly have params like/tb3_0/amcl/base_frame_idand/tb3_1/amcl/base_frame_idbecause of your groups.I do have the /tb3_n/amcl/base_frame_id, that outputs: base_footprint, but you said: /tb3_n/amcl/global_frame_id... (added the $ rosparam list output)
if I put the whole <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch"> outside the <group ns="$(arg ns_r0)">, when launching shows: roslaunch file contains multiple nodes named [/robot_state_publisher]. Please check all <node> 'name' attributes to make sure they are uni
Alright leave it as before then. In your amcl launch file you need to add
<param name="global_frame_id" value="/map"/>to set the connection withmap.isn't working yet, please check, I've updated the outputs for rviz, tf tree, rostopic list, roswtf and also updated the launch files. any ideas? thanks for the help, really appreciate it
There is still things missing : in your
amcl.launchadd this too<param name="use_map_topic" value="true/>. Also I think there is an issue with the robot model, do you see the two turtlebot correctly if you set the fix frame to/tb3_0/base_link?updated the outputs, yes, it does show the robot, but now
$ roswtfshows and error. will it be due to thebase_scannot grabbing thename_spaceconf?Where does the
corecomes from ? How do you launch this ? It seems you launch it with another launch file which isn't in the same namespace. Have you seen this tutorial ? Section 16.5 shows how to correclty launch your robots.I was missing the
set_lidar_frame_id:="tb3_1/base_scan"for the launch file at the robot side, but still getting the same error out of$ roswtf, added theturtlebot3_robot.launchInstead of calling the other launch files separatly add this in the
grouptags:I've updated the files, without success yet, this error got my mind:
I'm diving into the source file now
thanks for your help, really appreciate, please don't get rid of me yet! haha