@nightwish: 4) I strongly suggest you to check the official documentation here. And follow the tutorials there for a be

@nightwish: 4) I strongly suggest you to check the official documentation here. And follow the tutorials there for a be

@nightwish: 3) tf does translations between coordinate frames. E.g. Robot1 says it is standing at Point(3,5). I want Ro

@nigthwish: 3) tf does translations between coordinate frames. E.g. Robot1 says it is standing at Point(3,5). I want Ro

@nightwish: 2) E.g. Robot1 says where it stands is the origin, Robot2 says where Robot1 is standing is P(-400,359). So,

@nightwish: 2) E.g. Robot1 says where it stands is the origin, Robot2 says where Robot1 is standing is P(-400,359). So,

@nightwish: 1) Hi, Let's say you have a system with 2 robots. In simplest terms, if we were to show each robot the same

@nightwish: 1) Hi, Let's say you have a system with 2 robots. In simplest terms, if we were to show each robot the same

Yes @Kishore, check out the tftree after launching the system.

Sorry, for the late reply. I will need to review my email settings I guess. @Foo: Unfortunately, I haven't tried. But, i

Implementation

Implementation of the system is explained in the following list (bulleted list explains what is all included in that particular element of the numbered list):

1. gazebo_multirobot.launch

   • empty_world.launch (starts Gazebo with empty_world)
   • view_navigation.launch (starts Rviz)
   • multirobot.launch (explained in the 2nd element below)

2. multirobot.launch (Launching one_robot.launch with different namespaces multiple times. One might include as many robots as he/she wants as long as the hardware allows)

   • one_robot.launch (launches a single robot with a given namespace. Details about what it all includes are given in the 3rd element)

3. one_robot.launch

   • kobuki.launch.xml (describes a kobuki robot and what its pose should be in the world)
   • tf (for necessary transforms between /world and robot_namespace/map)
   • map_server (loading the map file for a robot)
   • robot_state_publisher (publishes the state of the robot to tf with given frequency)
   • move_base_gazebo.launch (starts move_base node with given costmap config files)
   • amcl.launch.xml (starts amcl node)
   • laserscan_nodelet_manager (generating fake laserscan messages)

Running the System

Once you have the "multirobot" file in your workspace, open a terminal window and type:

roslaunch multirobot gazebo_multirobot.launch

This should start Gazebo and Rviz with 2 turtlebots unless you edit launch files.

I added 3 navigation buttons in Rviz to easily assign 2D Nav Goal for up to 3 robots. If you need more robots in the system, you can either check 'multirobot->rviz->navigation.rviz' to add more buttons or simply right click on 2d nav goal and check 'tool properties'

Hello all,

I recently took a Robotics course in Istanbul Technical University and worked on setting up a multi-robot system as my term project. I found the resources on that subject very limited (especially for beginners like me). Therefore, I am posting my answer to "how to set up a multi-robot system and navigation stack" here, hoping it might give some insight to people who are willing to work on this subject.

Thanks Jakub on the great QA here, I built my work on top of his. And special thanks to Damien Jade Duff for teaching and assisting me debugging the system.

The system was implemented and tested on Ubuntu 16.04 with Ros Kinetic. You can download the files here.