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nav2d real map build with multiple robots

asked 2019-01-11 14:21:52 -0600

DeMoy23 gravatar image

updated 2019-01-14 06:11:35 -0600

Hello, in tutorial 4 (from nav2d Build a map with multiple robots simultaneously) is a paragraph that describes how to share the karto in and karto out to another roscore or robot. I'm using Ros kinetic and the ros-rt-wmp package doesn't want to compile in this Rosversion. So I'm a little clueless how to exchange the data from the topics. Is there for Ros kinetic a package which i can use? For clarification(what i'm using):

  • Ubuntu 16.04
  • Ros kinetic
  • 2x Turtlebot3 Burger
  • Seperate WIFI for the Turtlebots without another interference source

The mapping and navigation for one robot works without problems. Thanks in advance for your help.

Ps: Sorry for my bad english.

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What tutorial? Please update your question with a link to the tutorial

jayess gravatar imagejayess ( 2019-01-11 16:16:52 -0600 )edit

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answered 2019-01-14 06:02:02 -0600

Sebastian Kasperski gravatar image

You said you are using the ros-rt-wmp package. With this it should be possible to share topics between robots (with separate ros-core's). So you can create a shared scan topic via ros-rt-wmp and use it to connect mappers on different robots.

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Sorry I was meaning it doesn't compile so ros-rt-wmp doesn't working in my case.

DeMoy23 gravatar imageDeMoy23 ( 2019-01-14 06:11:08 -0600 )edit

In this case you would need some other means of sharing topics between systems. Or find out why ros-rt-wmp is not working. I previously used DDS together with a custom bridge node to share scans between mapper instances, but I can't really recommend this solution.

Sebastian Kasperski gravatar imageSebastian Kasperski ( 2019-01-14 07:11:08 -0600 )edit

Maybe search/ask here at ros-aswers for what other possibilities exist to communicate between roscores.

Sebastian Kasperski gravatar imageSebastian Kasperski ( 2019-01-14 07:12:21 -0600 )edit

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Asked: 2019-01-11 14:21:52 -0600

Seen: 308 times

Last updated: Jan 14