This is launch files used to spawn multiple Turtlebots in single Gazebo simulation with AMCL and goal navigation performed.
Install ROS Indigo or Kinetic. Also, this package is needed to get the edited for LRF Turtlebot model.
This project needs C++17 and, therefore, gcc version higher than 7.0. Please upgrade to gcc-7 following these instructions.
Install Tutrlebot packages using:
sudo sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgsInstall Eband local planner:
sudo apt-get install ros-indigo-eband-local-plannerInstall Hector SLAM:
sudo apt-get install ros-indigo-hector-slamInstall Tutrlebot packages using:
sudo sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-interactions ros-kinetic-turtlebot-simulator ros-kinetic-kobuki-ftdi ros-kinetic-ar-track-alvar-msgsInstall Eband local planner:
sudo apt-get install ros-kinetic-eband-local-plannerInstall Hector SLAM:
sudo apt-get install ros-kinetic-hector-slamTo spawn multiple Kinect Turtlebots:
roslaunch multiple_turtlebots multiple_kinect_turtlebot_world.launchTo launch AMCL and map_server on all robots:
roslaunch multiple_turtlebots multiple_kinect_amcl.launchOR
To launch gmapping on all robots:
roslaunch multiple_turtlebots multiple_kinect_gmapping.launchTo spawn multiple LRF Turtlebots:
roslaunch multiple_turtlebots multiple_laser_turtlebot_world.launchTo launch hector_mapping on all robots:
roslaunch multiple_turtlebots multiple_laser_hector.launchTo view navigation in RViz:
roslaunch multiple_turtlebots view_navigation.launchIf you met complains about TURTLEBOT_3D_SENSOR type following:
export TURTLEBOT_3D_SENSOR=kinect
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