Multi-Robot-Gazebo-NaviStack
This repo relate to multi mobile robots in Gazebo simulator. Based on Navigation stack packages, environment map is created and each robot is able to do motion planning. Enter
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You can see the video:
The requirements of this project are :
- Ubuntu Focal
- ROS Noetic
- GAzebo 11
Install
source /opt/ros/noetic/setup.bash
cd catkin_ws
wget https://gist.githubusercontent.com/airuchen/5e58eb5dc54d6dc38ea5d2bedd53f69e/raw/ae3b850aca5a0577105c682eec1ab3b534161cc2/multi_omnibot.repos
catkin_make
source devel/setup.bash
Open terminal then type blow commands:
roslaunch turtlebot3_gazebo Multi_turtlebot3_Closeworld2.launch
If you haven't seen error the Gazebo environment should launch. Then type below command:
roslaunch turtlebot3_navigation multi_turtlebot3_navigation.launch
Then click right on "2D nav Goal" and add "Tool Properties" as new panel to RVIZ.
Then you can change the 2D nav Goal topic to "/tb3_1/move_base_simple/goal" or "/tb3_2/move_base_simple/goal" like below picture:
