balloon61 / multi-robot-navigation

System setup for multi robot navigation using tb2. The localization algorithm can choose AMCL or EKF.

Multi-robot-navigation

Desciption:

Multi robot navigation using tb2 because tb2 use stereo camera for the localization, it might lack of feature for localization therefore, you can select the ekf launch file instead of the origonal localization (AMCL).

Requirement:

Turtlebot 2 install in your computer, gazebo, ros, octomap

Installation of turtlebot2

The set up of Turtlebot on Noetic is mostly follows this website: https://gist.github.com/jeremyfix/0c5973aba508ee8b6e8d3c3077c6db1e

Step:

# launch multi-robot in Gazebo and Rviz also run the navigation for every robot
roslaunch turtlebot_gazebo multi-robot.launch
# send goal to each robot
rosrun turtlebot_gazebo multi_pose_publisher.py

Navigation demo

This demo send goal to each turtlebot which are (6.5, 5, 5), (5, 6.5, 0), (6.5, 6.5, 0) respectively.

RViz

https://youtu.be/wRppShDb4Cg

Gazebo

https://youtu.be/CdYUmaoeKLU