How to run Multiple Turtlebot 2/3 in real world?

asked 2019-09-03 20:29:34 -0500

humzaChoudry
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updated 2022-01-22 16:10:04 -0500

Evgeny
26 ●6

I have the latest ROS recommended distribution and Ubuntu 18.04.

I have been able to run a single turtlebot 3 with no problem. Now how do I go about running more than one turtlebot using a SINGLE ROS MASTER on my laptop. Wether it is a turtlebot 2 or 3 does not matter. In the real world and not the simulation.

I have read multiple answers on this site but do not understand how to fully implement it.

I know the issue has to do with namespace and tf. How do I go about doing this? I need to distinguish between robot one and robot two. Please explain step by step as I'm new to ROS but I have done my reading and have a pretty good understanding of most things in ROS.

Once implemented I will post all my results to help out everyone else.

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answered 2019-09-05 00:21:32 -0500

Pallav
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updated 2019-09-24 06:57:33 -0500

You can check this video by "The Construct". This should solve your problem. Link: https://youtu.be/es_rQmlgndQ

I had also implemented the same. If you have prior experience with namespaces and launch files then check (Here)

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answered 2019-09-04 06:28:21 -0500

Choco93
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You can add <param name="tf_prefix" value="robot_1"/> for adding prefix to your urdf for each of the robots. Similarly you can group the launch files for both of robots in different namespaces. An example can be found here.