roslaunch multi_slam keyboard.launch robot_name:="robot1" 1. Tip:以上几个机器人就得重复几次 运行多机建图并打开rviz: roslaunch multi_slam map_merge.launch 1. 完成多机建图后保存地图 rosrun map_server map_saver -f /home/catkin_ws/src/multi_robot/map 1. 修改map.yaml 中的 origin 为: ...
主题名称应类似于:/ robot_1 / odom,/ robot_1 / map,/ robot_1 / base_scan,.. . 映射节点 每个机器人都应具有从gmapping包生成的本地地图。 地图合并节点 应该有一个将所有本地地图合并为一个全局地图的节点。您可以使用Jiri Horner开发的“ multirobot_map_merge”包。 “ multirobot_map_merge”已...
robot_map_updates_topic: map_udpates robot_namespace: "" merged_map_topic: map world_frame: map known_init_poses: true # known_init_poses: false # Define here robots' positions in the map if known_init_poses is true /tb3_0/map_merge/init_pose_x: 0.2 /tb3_0/map_merge/init_pose...
-- multirobot_map_merge --><node pkg="multirobot_map_merge" type="map_merge" respawn="false" name="map_merge" output="screen"><param name="robot_map_topic" value="map"/><param name="robot_namespace" value="robot"/><param name="merged_map_topic" value="map"/><param name="worl...
相关依赖安装 安装multirobot-map-merge 包 sudo apt-get install ros-melodic-multirobot-map-merge 其他依赖的安装参考之前的文章 turtlebot3 仿真 --- 单机SLAM与导航 仿真环境加载 新终端,首先导入机器人模型(每次打开新终端都要添加),…阅读全文 5 5 条评论 分享 Cartographer SLAM 算法...
通过RCM安装multirobot_map_merge rcm -s install_multirobot_map_merge 测试 启动仿真建图 export TURTLEBOT3_MODEL=waffle export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/${ROS_DISTRO}/share/turtlebot3_gazebo/models ros2 launch nav2_bringup tb3_simulation_launch.py slam:=True rviz效果图...
根据multirobot_map_merge包的设定,机器人xy位姿应为其在地图合并后坐标系的坐标值的20倍,即机器人tb3_0与机器人tb3_1应设置为(0,-20)和(0,20) 以此可推出其他机器人的xy位姿 同一水平放置 不规则放置 在上面两图中,机器人的实际的x方向时与地图合并后坐标系的x方向相反 ...
本博文是基于这个ROS软件包(https://github.com/hrnr/m-explore)的学习笔记 目录 multi robot exploration nav_msgs/OccupancyGrid map_msgs/OccupancyGridUpdate move_base multirobot_map_merge 参考资料 multi robot exploration 这个包名为explore_lite,采用greedy frontier-based exploration。当节点运行时,机器人会贪婪...
First, you'll need to launch the whole simulation stack, nav2 stacks and slam stacks per robot. For that just launch::export TURTLEBOT3_MODEL=waffle export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/${ROS_DISTRO}/share/turtlebot3_gazebo/models ros2 launch multirobot_map_merge multi_tb...
ros-noetic-multires-image ros-noetic-multirobot-map-merge - needs opencv nonfree ros-noetic-navigation-experimental - metapackage, needs several others first ros-noetic-octovis - needs {'libqglviewer2-qt5', 'libqglviewer-dev-qt5'} ros-noetic-opencv-apps ...