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_nav_03
$ source install/setup.bash
# To run a single robot without SLAM or Map (
robot name in code is set to ""):
$ ros2 launch multi_bot_nav_03 multi_simulation_launch.py world:=src/worlds/world_01.sdf map:=src/maps/world_01.yaml keepout_mask:=src/maps/keepout_world_01.yaml rviz_config_file:=src/multi_bot_nav_03/rviz/simple_single.rviz mode:=simple
# To run a single robot simulation (SLAM) (
robot name set to ""):
$ ros2 launch multi_bot_nav_03 multi_simulation_launch.py world:=src/worlds/world_01.sdf map:=src/maps/world_01.yaml keepout_mask:=src/maps/keepout_world_01.yaml rviz_config_file:=src/multi_bot_nav_03/rviz/slam_single.rviz mode:=slam
# To run a single robot simulation (Map) (
robot name set to ""):
$ ros2 launch multi_bot_nav_03 multi_simulation_launch.py world:=src/worlds/world_01.sdf map:=src/maps/world_01.yaml keepout_mask:=src/maps/keepout_world_01.yaml rviz_config_file:=src/multi_bot_nav_03/rviz/map_single.rviz mode:=map
# To run a multi robot without SLAM or Map (
robot name set to robot1, robot2). Do not
# forget to uncomment code for multiple robots in the launch file, and to comment out
# the code for a single robot with empty namespace:
$ ros2 launch multi_bot_nav_03 multi_simulation_launch.py world:=src/worlds/world_01.sdf map:=src/maps/world_01.yaml keepout_mask:=src/maps/keepout_world_01.yaml rviz_config_file:=src/multi_bot_nav_03/rviz/simple_multi.rviz mode:=simple
# To run a multi robot simulation (SLAM):
$ ros2 launch multi_bot_nav_03 multi_simulation_launch.py world:=src/worlds/world_01.sdf map:='src/maps/world_01.yaml' keepout_mask:=src/maps/keepout_world_01.yaml rviz_config_file:=src/multi_bot_nav_03/rviz/slam_multi.rviz mode:=slam
# To run a multi robot simulation (Map):
$ ros2 launch multi_bot_nav_03 multi_simulation_launch.py world:=src/worlds/world_01.sdf map:='src/maps/world_01.yaml' keepout_mask:=src/maps/keepout_world_01.yaml rviz_config_file:=src/multi_bot_nav_03/rviz/map_multi.rviz mode:=map
To control robots manually:
# 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
These are for backward compatibility: we have our custom path planning and
following, but Nav2 still works.
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_nav_03/multi_bot_nav_03
$ 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_nav_03/multi_bot_nav_03
$ python3 03_charger_docking.py
Finally, to run dockcing charging script on multiple (2) robots:
# Terminal 3:
$ cd ~/SnowCron/ros_projects/harsh/src/multi_bot_nav_03/multi_bot_nav_03
$ python3 04_charger_docking_obstacles_multi.py
Same as earlier: 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 custom path planning and following with a single robot (robot name is ""):
# Terminal 3:
$ cd ~/SnowCron/ros_projects/harsh/src/multi_bot_nav_03/multi_bot_nav_03
$ source ../../../install/setup.bash
$ python3 Coordinator.py
To run path custom path planning and following with a multiple robots:
# Terminal 3:
$ cd ~/SnowCron/ros_projects/harsh/src/multi_bot_nav_03/multi_bot_nav_03
$ source ../../../install/setup.bash
$ python3 Coordinator.py