ROS2 and Gazebo: multiple robots

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Compiling and Running

We use different mode values (simple - slam - map) and accordingly, different RViz config files. Alltogether, it creates kind of a mess, but the logic is simple. 

                    # Terminal 1
                    # echo $ROS_DISTRO
                    # galactic
                    #
                    # source /opt/ros/galactic/setup.bash
                    #
                    $ cd ~/SnowCron/ros_projects/harsh
                    $ colcon build --packages-select multi_bot_04
                    $ source install/setup.bash
                    
                    # To run a single robot without SLAM or Map (robot name in code is set to ""):
                    $ ros2 launch multi_bot_04 multi_simulation_launch.py world:=src/worlds/maze_with_charger.sdf map:=src/maps/map.yaml keepout_mask:=src/maps/keepout_mask.yaml rviz_config_file:=src/multi_bot_04/rviz/simple_single.rviz mode:=simple
                


                # To run a single robot simulation (SLAM) (robot name set to ""):
                $ ros2 launch multi_bot_04 multi_simulation_launch.py world:=src/worlds/maze_with_charger.sdf
                map:=src/maps/map.yaml keepout_mask:=src/maps/keepout_mask.yaml
                rviz_config_file:=src/multi_bot_04/rviz/slam_single.rviz mode:=slam
                
            


            


            

                


                # To run a single robot simulation (Map) (robot name set to ""):
                $ ros2 launch multi_bot_04 multi_simulation_launch.py world:=src/worlds/maze_with_charger.sdf
                map:=src/maps/map.yaml keepout_mask:=src/maps/keepout_mask.yaml
                rviz_config_file:=src/multi_bot_04/rviz/map_single.rviz mode:=map
                
            


            


            

                


                # To run a multi robot without SLAM or Map (robot name set to robot1, robot2):
                $ ros2 launch multi_bot_04 multi_simulation_launch.py world:=src/worlds/maze_with_charger.sdf
                map:=src/maps/map.yaml keepout_mask:=src/maps/keepout_mask.yaml
                rviz_config_file:=src/multi_bot_04/rviz/simple_multi.rviz mode:=simple
                
            


            


            

                


                # To run a multi robot simulation (SLAM):
                $ ros2 launch multi_bot_04 multi_simulation_launch.py world:=src/worlds/maze_with_charger.sdf
                map:='src/maps/map.yaml' keepout_mask:=src/maps/keepout_mask.yaml
                rviz_config_file:=src/multi_bot_04/rviz/slam_multi.rviz mode:=slam
                
            


            


            

                

                # To run a multi robot simulation (Map):
                $ ros2 launch multi_bot_04 multi_simulation_launch.py world:=src/worlds/maze_with_charger.sdf
                map:='src/maps/map.yaml' keepout_mask:=src/maps/keepout_mask.yaml
                rviz_config_file:=src/multi_bot_04/rviz/map_multi.rviz mode:=map
                
            


            


            
As I mentioned earlier, scripts are not yet changed to support
                multiple robots. This section is here for compatibility, but it
                will not work! I am going to fix it later.
            


            

                


                # Terminal 2
                $ cd ~/SnowCron/ros_projects/harsh
                $ source install/setup.bash

                # To move a single robot
                # Single command:
                $ ros2 topic pub cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.5, y: 0.0, z: 0.0}, angular: {x: 0.0,
                y: 0.0, z: 0.0}}'
                # Teleop tool:
                $ ros2 run teleop_twist_keyboard teleop_twist_keyboard

                # to move the robot in multi-robot launch, use one of the following
                # (you can use them simultaneously):
                $ ros2 topic pub /robot1/cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.5, y: 0.0, z: 0.0}, angular:
                {x: 0.0, y: 0.0, z: 0.0}}'
                $ ros2 topic pub /robot2/cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.5, y: 0.0, z: 0.0}, angular:
                {x: 0.0, y: 0.0, z: 0.0}}'
                $ ros2 run teleop_twist_keyboard teleop_twist_keyboard --remap cmd_vel:=/robot1/cmd_vel
                $ ros2 run teleop_twist_keyboard teleop_twist_keyboard --remap cmd_vel:=/robot2/cmd_vel

                
            


            
Waypoints following and Docking to charger


            
To run these scripts, Terminal 1 should have our launch file started with
                "mode" equal "map", either for single robot configuration (robot name
                set to "") or in multi robot configuration. Just to remind you: it can be
                changed by commenting / uncommenting the following lines in
                multi_simulation_launch.py:
            

            

                

                robots = [
                {'name': '', 'x_pos': 0.0, 'y_pos': 0.5, 'z_pos': 0.01,
                "color_name" : "Green", "color_rgb" : "0 1 0 1"},
                # {'name': 'robot1', 'x_pos': 0.0, 'y_pos': 0.5, 'z_pos': 0.01,
                # "color_name" : 'Yellow', "color_rgb" : "1 1 0 1"},
                # {'name': 'robot2', 'x_pos': 0.0, 'y_pos': -0.5, 'z_pos': 0.01,
                # "color_name" : 'Blue', "color_rgb" : "0 0 1 1"},
                ]
                
            


            
To run simple waypoint follower script for a single robot (robot name is ""):

            

                
                    # Terminal 3:
                    $ cd ~/SnowCron/ros_projects/harsh/src/multi_bot_04/multi_bot_04
                    $ python3 01_waypoint_follower.py
                

            


            
To run docker charging script for a single robot (robot name is ""):

            

                
                    # Terminal 3:
                    $ cd ~/SnowCron/ros_projects/harsh/src/multi_bot_04/multi_bot_04
                    $ python3 03_charger_docking.py
                

            


            
Finally, to run docker charging script on multiple (2) robots:

            

                
                    # Terminal 3:
                    $ cd ~/SnowCron/ros_projects/harsh/src/multi_bot_04/multi_bot_04
                    $ python3 04_charger_docking_obstacles_multi
                

            


            


        




			

			
			
			
			

		

	


	



	

	
	

    

        

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