move_base with remaped topics

asked 2022-02-26 15:22:44 -0500

martinrosales gravatar image

Hello everybody!

I'm using ROS noetic to develop a little project. I'm trying to use move_base package for a turtlebot3. The package I'm using is:

So, in order to launch the simulation in Gazebo, I use: roslaunch turtlebot3_gazebo turtlebot3_world.launch

As I already have a general map (got it ussing gmapping and teleop), and I cloned turtlebot3_navigation pkg in order to the launch files for move_base, so the next launch file I use is: roslaunch turtlebot3_navigation turtlebot3_navigation.launch

This launch file launches: -turtlebot3_remote.launch -map_server -amcl.launch -move_base.launch -rviz

So the I can create a 2D Nav Goal in RVIZ, and the robot would plan a path and move to the desire point.

The problem now is that, as I may use many turtlebots form my project, each robot would have a different name and I would need to remap all the topics.

I already remapped all the topics and params I was capable to find, as:

-In map_server:

remap from="/map" to="$(arg robot_name)/map"/>


remap from="scan" to="$(arg robot_name)/scan"/

param name="odom_frame_id" value="$(arg robot_name)/odom"/>

param name="base_frame_id" value="$(arg robot_name)/base_footprint"/>

-In move_base:

remap from="move_base/goal" to="$(arg robot_name)/move_base/goal"/>

remap from="move_base/cancel" to="$(arg robot_name)/move_base/cancel"/>

remap from="move_base/feedback" to="$(arg robot_name)/move_base/feedback"/>

remap from="move_base/status" to="$(arg robot_name)/move_base/status"/>

remap from="move_base/result" to="$(arg robot_name)/move_base/result"/>

remap from="move_base_simple/goal" to="$(arg robot_name)/move_base_simple/goal"/>

remap from="cmd_vel" to="$(arg robot_name)/cmd_vel"/>

remap from="odom" to="$(arg robot_name)/odom"/>

remap from="scan" to="$(arg robot_name)/scan"/>

In the end, it doesn't work. The first problem I found is the map topic. So, in the case I don't use a robot name, I can see in RQT that the move_base model receives info from the topics:


/map (from the map_server)


But when I try to put a name on the robot, there is created a topic called /robot1/map but it's not connected to move_base. I think they must be a lot of problems in the code, so I just want to know if someone has already used move_base remapped to a robot's name.

Thank you so much! (:

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