Slam learning notes - build a complete gazebo multi machine simulation slam from scratch (III)

introduction

We can already use multiple robots together SLAM, And fuse the map . This time, , We have built the map , Let multiple robots locate and plan their movements . Please go to my gitee Download the function pack ,gitee In the first article

Environment building

Let's see launch file , In addition to starting the simulation environment and putting it into the robot , We also joined in acml and move_base node ,acml The robot can judge its position in the map through radar scanning data ,move_base Road strength planning can be carried out .
There are many tutorials online , But the core difficulty here is the existence of multiple robots , So there are many namespace conflicts , It needs to be made clear acml and move_base What have you subscribed to topic, To sort out the relationship between multiple robots .

<launch>
    <!-- Set parameters  -->
    <arg name="simulation" default="true"/>
    <arg name="move_forward_only" default="false"/>

    <group if="$(arg simulation)" >
        <!--  Open the simulation world  -->
        <include file="$(find gazebo_tutorials)/launch/create_world.launch" />
         <!--  Place the robot  -->
        <include file="$(find gazebo_tutorials)/launch/place_robot.launch">
            <arg name="robot_x_pos" value="0.0"/>
            <arg name="robot_y_pos" value="0.0"/>
            <arg name="robot_z_pos" value="0.0"/>
            <arg name="robot_yaw" value="0"/>
            <arg name="robot_name" value="tb3_0"/>
        </include>
         <!--  Place the robot  -->
        <include file="$(find gazebo_tutorials)/launch/place_robot.launch">
            <arg name="robot_x_pos" value="1.0"/>
            <arg name="robot_y_pos" value="0.0"/>
            <arg name="robot_z_pos" value="0.0"/>
            <arg name="robot_yaw" value="0"/>
            <arg name="robot_name" value="tb3_1"/>
        </include>
    </group>

    <!--  Import map  -->
    <node name="map_server" pkg="map_server" type="map_server" args="$(find gazebo_tutorials)/map/map.yaml" output="screen">
        <!-- <param name="frame_id" value="/map"/> -->
    </node>

    <!-- amcl location -->
    <include file="$(find gazebo_tutorials)/launch/amcl.launch" >
        <arg name="ns" value="tb3_0" />
    </include>
    <include file="$(find gazebo_tutorials)/launch/amcl.launch" >
        <arg name="ns" value="tb3_1" />
    </include>

  <!-- move_base Navigation -->
  <include file="$(find gazebo_tutorials)/launch/move_base.launch">
    <arg name="ns" value="tb3_0" />
    <arg name="move_forward_only" value="$(arg move_forward_only)"/>
  </include> 
    <include file="$(find gazebo_tutorials)/launch/move_base.launch">
    <arg name="ns" value="tb3_1" />
    <arg name="move_forward_only" value="$(arg move_forward_only)"/>
  </include> 


    <!-- rviz -->
    <include file="$(find gazebo_tutorials)/launch/rviz_two_robots.launch" />

</launch>

Instructions

Use command roslaunch gazebo_tutorials navigate_with_map.launch Startup file

2d pos estimate There is no need to use , Because our initial position is set by ourselves , Basically accurate . But if in use , We may tilt the robot , Then the scanning result of lidar does not match the edge of the map , At this time, you need to use this tool to adjust the posture . When releasing pose, use the one in the upper right corner tool properties, Is this in the default rviz Will not be shown in , Need to be manually added . And now topic There is no namespace , So add... To the front tb3_0/ It represents the first robot pose estimation .

2d Nav Goal Is to release the target location of the hope robot , You also need to modify the upper right corner topic To choose the robot to navigate .