surajmahangade / Multiple-Husky

Repository contains multiple husky simulation and navigation in ros melodic and ros noetic

Multiple-Husky

Repository contains multiple husky simulation and navigation in ros melodic(completed) and ros noetic(in progress)

Note

• The robot state publisher of noetic as of now doesnot support tf prefix hence I have used the work done by https://github.com/rhaschke/robot_state_publisher.git
• The repository assumes that you have all the dependency pacakges like robot_localization,twist_mux,interactive_marker_twist_server,unique_identifier and so on installed properly.

Create workspace and git clone the repository

• mkdir -p ~/catkin_ws/src
• cd ~/catkin_ws/src
• git clone https://github.com/surajmahangade/Multiple-Husky.git
• git checkout noetic
• cd ..

You can clone the repositories of rosbo_localization,twist whichever not installed,like.

• git clone https://github.com/cra-ros-pkg/robot_localization.git

Checkout the right branch

• git checkout noetic-devel

catkin make

• cd ~/catkin_ws
• catkin_make

Install the changes so that we make sure we use our version of robot state publisher

• catkin_make install

source and launch

• source devel/setup.bash
• roslaunch aws_robomaker_small_warehouse_world multihusky.launch