These simulations use:
- Robot - Turtlebot 3
- Navigation - move_base
- Simulator - Gazebo
- World - willowgarage.world
1.1. Multi-robot simulation with map_merging algorithm. Requires init positions of robots. Merged map used by move_base.
roslaunch mrslam_sim m_gmapping_mapmerging.launch
1.2. Multi-robot simulation with map_merging algorithm. The same as previous, but can be ran on different hosts with separate copies of gazebo. Robots connections made with multimaster_fkie package. Connections between hosts established with ad-hoc wifi network (run adhoc_net.sh for setup). To run simulation setup ssh keys and then execute on main computer:
mm_gmapping_mapmerging_step1.sh
mm_gmapping_mapmerging_step2.sh
mm_gmapping_mapmerging_step3.sh
Launch of simulation separated on 3 steps, because copies of Gazebo can not be synchronised another way.
2.1. Multi-robot simulation with multirobot_map_merge algorithm. Uses algoritms from OpenCV 3 for maps merging. Does not require initial positions of robots. Runs on one master-process.
roslaunch mrslam_sim m_gmapping_multirobotmapmerge.launch
2.2. TODO