Working with multiple robots in ROS

Semester project

The ROS package which you use for your semester project can be downloaded here. The suggested controller layout looks like this:

../../_images/controller_layout.png

The different worlds including the main ROS packages are started as follows:

roslaunch multi_robot_challenge rescue_robots_w0.launch

This command launches world 0. You can launch different worlds by changing 0 to another number between 0 and 5. The python controller scripts (robot.py, map_filter.py and leader.py) are started with the following launch file:

roslaunch multi_robot_challenge controller.launch

Namespaces

Parallel SLAM with two robots

Merging maps

The ROS package multirobot_map_merge takes as input multiple maps and tries to merge them into one. More information on the package can be found here. To use the package you first need to install it by using the following command in your terminal:

sudo apt install ros-melodic-multirobot-map-merge