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2016-12-09 07:05:40 -0500 asked a question Multi-robot exploration using explorer and map merger

Hello world,

I want to use aau_multi_robot package but unfortunately, explorer and map merger nodes utilize the adhoc communication node. my goal is to eliminate the adhoc communication node because i want to run the map merger node on a cloud.

is this possible ??

I would appreciate your comments.

2016-12-09 05:53:20 -0500 asked a question Nav2d autonomous multi robot mapping & exploration

Hello all, i have run all tutorials with success, now i need to join both tutorial 3 and 4.

My goal is to deploy 2 robots to autonomously exploring and building a map.

i followed the instruction in this post, nav2d autonomous multi robot exploration

everything was great but after few seconds the mapper of robot 1 stops.

my launch file

<launch>

<!-- Some general parameters -->
<param name="use_sim_time" value="true" />

<!-- Start Stage simulator with a given environment -->
<node name="Stage" pkg="stage_ros" type="stageros" args="$(find nav2d_tutorials)/world/tutorial4.world">
    <param name="base_watchdog_timeout" value="0" />
</node>


<node name="R0_MapAlign" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 /map /robot_0/map 100"/>
<node name="R1_MapAlign" pkg="tf" type="static_transform_publisher" args="40 0 0 0 0 0 /map /robot_1/map 100"/>

<group ns="robot_0">
    <param name="robot_id" value="1" />
    <param name="tf_prefix" type="string" value="robot_0"/>
    <rosparam file="$(find nav2d_tutorials)/param/ros.yaml"/>

    <node name="Mapper" pkg="nav2d_karto" type="mapper">
        <remap from="scan" to="base_scan"/>
        <remap from="karto_in" to="/shared_scans_r2"/>
        <remap from="karto_out" to="/shared_scans_r1"/>
        <rosparam file="$(find nav2d_tutorials)/param/mapper.yaml"/>
    </node>

    <node name="Operator" pkg="nav2d_operator" type="operator" >
    <remap from="scan" to="base_scan"/>
    <rosparam file="$(find nav2d_tutorials)/param/operator.yaml"/>
    <rosparam file="$(find nav2d_tutorials)/param/costmap.yaml" ns="local_map" />
</node>

<!-- Start the Navigator to move the robot autonomously -->
    <node name="Navigator" pkg="nav2d_navigator" type="navigator">
        <rosparam file="$(find nav2d_tutorials)/param/navigator.yaml"/>
    </node>

    <node name="Localize" pkg="nav2d_navigator" type="localize_client" />
    <node name="Explore" pkg="nav2d_navigator" type="explore_client" />
    <node name="GetMap" pkg="nav2d_navigator" type="get_map_client" />


</group>

<group ns="robot_1">
    <param name="robot_id" value="2" />
    <param name="tf_prefix" type="string" value="robot_1"/>
    <rosparam file="$(find nav2d_tutorials)/param/ros.yaml"/>

    <!-- Start the Operator to control the simulated robot -->
    <node name="Operator" pkg="nav2d_operator" type="operator" >
        <remap from="scan" to="base_scan"/>
        <rosparam file="$(find nav2d_tutorials)/param/operator.yaml"/>
        <rosparam file="$(find nav2d_tutorials)/param/costmap.yaml" ns="local_map" />
    </node>

    <!-- Start the Navigator to move the robot autonomously -->
    <node name="Navigator" pkg="nav2d_navigator" type="navigator">
        <rosparam file="$(find nav2d_tutorials)/param/navigator.yaml"/>
    </node>

    <node name="Localize" pkg="nav2d_navigator" type="localize_client" />
    <node name="Explore" pkg="nav2d_navigator" type="explore_client" />
    <node name="GetMap" pkg="nav2d_navigator" type="get_map_client" />
    <node name="Mapper" pkg="nav2d_karto" type="mapper">
        <remap from="scan" to="base_scan"/>
        <remap from="karto_in" to="/shared_scans_r1"/>
        <remap from="karto_out" to="/shared_scans_r2"/>
        <rosparam file="$(find nav2d_tutorials)/param/mapper.yaml"/>
    </node>

</group>

<!-- RVIZ to view the visualization -->
<node name="RVIZ" pkg="rviz" type="rviz" args=" -d $(find nav2d_tutorials)/param/tutorial4.rviz" />

</launch>

here is the error in the command line image description

rqt_graph

image description

simulation screenshot image description

Log file

rosrun tf view_frames

Thank you in advance.