Skip to content

yongeePark/turtlebot3_multi_robot

 
 

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

12 Commits
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

Repository files navigation

Multiple Turtlebot3 robot support in Gazebo

The ROS2 project scalable solution for launching multiple TurtleBot3 robots with navigation capabilities using the Navigation2 (Nav2) stack. By leveraging namespaces in ROS2, this project enables the seamless deployment of multiple TurtleBot3 robots in a simple and organized manner. Each robot instance can be differentiated by its unique namespace, ensuring independence and preventing naming conflicts.

The 'master' branch includes an implementation that functions with the humble framework, while the 'foxy' branch provides support specifically for ROS2 Foxy.

'master' -> ROS2 Humble

'foxy' -> ROS2 Foxy

The code in the "foxy" branch is compatible with ROS2 humble. In the master branch, there is an updated launch file for bringing up nav2 with composite nodes. However, the creation of composite nodes is currently disabled due to an issue in the ROS2 humble implementation. This issue pertains to the propagation of namespace mapping to nodes (in composite container) with sub-namespaces, such as "/global_costmap/global_costmap".

Run without nav2 stack

Guide: https://medium.com/@arshad.mehmood/efficient-deployment-and-operation-of-multiple-turtlebot3-robots-in-gazebos-f72f6a364620

ros2 launch turtlebot3_multi_robot gazebo_multi_world.launch.py enable_drive:=True

turtlebot3_multi_robot

image

image

Run with nav2 stack

Guide: https://medium.com/@arshad.mehmood/a-guide-to-multi-robot-navigation-utilizing-turtlebot3-and-nav2-cd24f96d19c6

Robot Configuration

The arrangement of robots is configured in gazebo_multi_nav2_world.launch.py launch file. A potential future enhancement could involve retrieving the configurations from a file, such as json.

Names and poses for the robots in nav2 example

 robots = [
 {'name': 'tb1', 'x_pose': '-1.5', 'y_pose': '-0.5', 'z_pose': 0.01},
 {'name': 'tb2', 'x_pose': '-1.5', 'y_pose': '0.5', 'z_pose': 0.01},
 {'name': 'tb3', 'x_pose': '1.5', 'y_pose': '-0.5', 'z_pose': 0.01},
 {'name': 'tb4', 'x_pose': '1.5', 'y_pose': '0.5', 'z_pose': 0.01},
 # …
 # …
 ]
ros2 launch turtlebot3_multi_robot gazebo_multi_nav2_world.launch.py enable_drive:=True  use_sim_time:=True

image

Rviz2 output for first robot

image

Rviz2 output for all 4 robots

image

About

No description, website, or topics provided.

Resources

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published

Languages

  • Python 91.5%
  • C++ 6.9%
  • CMake 1.6%