Multi Robot Simulator for SwarmBot
Build
Distro: humble, galactic
Note: Before building the packages from source run setup.bash to complete the setup.
Mapping the environment
Use only one robot to map the area and one need to do it only once.
ros2 launch cartographer_slam mapping_bringup.launch.xml
Drive around the robot and map your environment.
Save maps after mapping
ros2 run nav2_map_server map_saver_cli -f empty_room
or
bash save_map.bash
1. Bringup the multirobot simulation, Localization and Pathplanning
ros2 launch multirobot_bringup multirobot_bringup.launch.xml