multi robot exploration [closed]

asked 2013-04-06 02:15:46 -0500

Xittx gravatar image

i want to run two robots in rviz with explore node . i have able to run the exploration package but it worked only for one robot . how to make it work for two robots . here are the launch file and world file for one robot.

launch file

..............................................

define block model ( size [0.5 0.5 0.5]

gui_nose 0

)

define topurg ranger

(

sensor(

range [ 0.0 30.0 ]

fov 270.25

samples 1081

)

# generic model properties

color "black"

size [ 0.05 0.05 0.1 ]

)

define erratic position

(

#size [0.415 0.392 0.25]

size [0.35 0.35 0.25]

origin [-0.05 0 0 0]

gui_nose 1

drive "diff"

topurg(pose [ 0.050 0.000 0 0.000 ])

)

define floorplan model

(

# sombre, sensible, artistic

color "gray30"

# most maps will need a bounding box

boundary 1

gui_nose 0

gui_grid 0

gui_outline 0

gripper_return 0

fiducial_return 0

laser_return 1

)

set the resolution of the underlying raytrace model in meters

resolution 0.02

interval_sim 100 # simulation timestep in milliseconds

window ( size [ 745.000 448.000 ]

rotate [ 0.000 -1.560 ]

scale 28.806

)

load an environment bitmap

floorplan

(

name "maze"

bitmap "maze.png"

size [54.0 58.7 0.5]

pose [ -29.350 27.000 0 90.000 ]

)

throw in a robot

erratic( pose [ -11.277 23.266 0 180.000 ] name "era" color "blue")

block( pose [ -13.924 25.020 0 180.000 ] color "red")

.......................................

world file

............................................. <launch> <master auto="start"/> <node pkg="stage" type="stageros" name="stage" args="$(find bosch_worlds)/maze.world" respawn="false" output="screen"/> <node pkg="tf" type="static_transform_publisher" name="fake_localize" args="0 0 0 0 0 0 map odom 10"/> <include file="$(find explore_stage)/move.xml"/> <include file="$(find explore_stage)/explore.xml"/> </launch> .............................................

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-11-26 03:21:29.346597

Comments

Hi, can you help me for run exploration stack in my turtlebot ? the roswiki doesn't have enough tutorials in this point ,, thanks in Advance ,, :)

salma gravatar imagesalma ( 2013-04-06 03:04:09 -0500 )edit

sorry salma i havnt tried it on turtlebot. i have just tested it with stage . i,ll let you know when i,ll try it on my irobot create

Xittx gravatar imageXittx ( 2013-04-06 07:36:09 -0500 )edit

Ok thanks Xittx,, i did a map by gmapping ,, i wish to use exploration method to make my Robot navigatie in hole the place to search for something ,, just help me Can exploration do that ?

salma gravatar imagesalma ( 2013-04-06 09:26:03 -0500 )edit

yes it can . exploration stack allows to explore the area which is unexplored, it wont go back again to the place which is already explored . as far as the "searching of object" is concerned , u have to search for an Object detection technique , may be OpencV would help.

Xittx gravatar imageXittx ( 2013-04-06 21:05:47 -0500 )edit

yes i tried an object detection technique and detect the object ,,now i am searching for a method to search for this object in the room that i have it's map by gmapping

salma gravatar imagesalma ( 2013-04-06 23:49:38 -0500 )edit
1

have u run the exploration node in stage along with gmapping node? . the launch file file is present in exploration package. u can try this . to make it run in real robot , u just have to erase "stageros" node from the launch file and include the turlebot driver and laser driver.

Xittx gravatar imageXittx ( 2013-04-07 00:10:15 -0500 )edit
1

three topics to consider ..."/base_scan" , "/cmd_vel" and "/odom" . first one will be achieved by laser driver , rest of the topics from turtlebot driver.

Xittx gravatar imageXittx ( 2013-04-07 00:13:39 -0500 )edit