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-msgs
Install Eband local planner:
sudo apt-get install ros-indigo-eband-local-planner
Install Hector SLAM:
sudo apt-get install ros-indigo-hector-slam
Install 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-msgs
Install Eband local planner:
sudo apt-get install ros-kinetic-eband-local-planner
Install Hector SLAM:
sudo apt-get install ros-kinetic-hector-slam
To spawn multiple Kinect Turtlebots:
roslaunch multiple_turtlebots multiple_kinect_turtlebot_world.launch
To launch AMCL and map_server on all robots:
roslaunch multiple_turtlebots multiple_kinect_amcl.launch
OR
To launch gmapping on all robots:
roslaunch multiple_turtlebots multiple_kinect_gmapping.launch
To spawn multiple LRF Turtlebots:
roslaunch multiple_turtlebots multiple_laser_turtlebot_world.launch
To launch hector_mapping on all robots:
roslaunch multiple_turtlebots multiple_laser_hector.launch
To view navigation in RViz:
roslaunch multiple_turtlebots view_navigation.launch
If you met complains about TURTLEBOT_3D_SENSOR
type following:
export TURTLEBOT_3D_SENSOR=kinect