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Merge multi-robot's maps

asked 2019-10-08 19:33:08 -0600

arahp gravatar image

updated 2019-11-20 07:42:00 -0600

ct2034 gravatar image

Hello, I want to know whether navigation_tutorials can merge multi-robot's maps? Or just try to control different robots? Is it real time, or just offline?

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answered 2019-10-09 06:17:26 -0600

ct2034 gravatar image

The problem of merging maps between robots is a slam problem. There are different solutions to do slam in ROS. (Amongst others gmapping, hector slam and cartographer)

One solution that is known to support multiple agents is cartographer: https://google-cartographer-ros.readt...

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Thanks a lot, if i want to merge maps using gmapping, do you have any suggestion? For example, a framework to realize it or some related work? It seems that Gmapping does not have this function itself.

arahp gravatar image arahp  ( 2019-10-21 09:14:42 -0600 )edit

can you please click on the little checkmark next to this answer, then.

ct2034 gravatar image ct2034  ( 2019-11-20 07:42:35 -0600 )edit
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There's a package called multirobot_map_merge can merges maps.

Ga_phantom gravatar image Ga_phantom  ( 2020-03-10 06:15:10 -0600 )edit

I have some problem with /start_trajectory, like it will say topic [scan] is already used.can you speak more specific about it,Thanks in advance.

Ga_phantom gravatar image Ga_phantom  ( 2020-03-15 19:34:12 -0600 )edit

This is cartographer specific, yes? I am not an expert on that. I would suggest opening a new question and clearly describe the problem you have with cartographer.

ct2034 gravatar image ct2034  ( 2020-03-17 08:33:52 -0600 )edit

OK, Thank you~.

Ga_phantom gravatar image Ga_phantom  ( 2020-03-22 02:23:17 -0600 )edit

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Asked: 2019-10-08 19:33:08 -0600

Seen: 524 times

Last updated: Nov 20 '19