multi_turtlebot3_navigation

Repository for controlling 2 Turtlebot3 robots in Vietnamese-German University's Robotics Lab

Setup on Master Computer

cd ~/catkin_ws/src
git clone --branch master https://github.com/ngkhiem97/multi_turtlebot3_navigation.git
cd ~/catkin_ws
catkin_make

First on Master Computer

roscore

On SSH Robot clients' command lines

Robot 1

ROS_NAMESPACE=turtle_1 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:=turtle_1 set_frame_id:=turtle_1/base_scan

Robot 2

ROS_NAMESPACE=turtle_2 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:=turtle_2 set_frame_id:=turtle_2/base_scan

On Master Computer

Launch navigation module (amcl and move_base) node on 2 robots. This will open Rviz interface

roslaunch multi_turtlebot3_navigation two_robots_navigation.launch

Open new terminal. Launch navigator for controlling robots based on shostest distance to goal

rosrun multi_turtlebot3_navigation navigator

Now you can controll the robots on Rviz interface using 2D pose estimate for setting inital robots' location and nav goal to send navigation goal to the navigator. The navigator node will calculate the distance to the 2 robots and send the navigation goal to the robot that has the shortest distance