Does turtlebot3 support loading multiple machines for ros melodic？

[hsx479]

ISSUE TEMPLATE ver. 0.4.0

1. Which TurtleBot3 platform do you use?

   • [x] Burger
   • [ ] Waffle
   • [ ] Waffle Pi

2. Which ROS is working with TurtleBot3?

   • [ ] ROS 1 Kinetic Kame
   • [x] ROS 1 Melodic Morenia
   • [ ] ROS 1 Noetic Ninjemys
   • [ ] ROS 2 Dashing Diademata
   • [ ] ROS 2 Eloquent Elusor
   • [ ] ROS 2 Foxy Fitzroy
   • [ ] etc (Please specify your ROS Version here)

3. Which SBC(Single Board Computer) is working on TurtleBot3?

   • [ ] Intel Joule 570x
   • [ ] Raspberry Pi 3B+
   • [x] Raspberry Pi 4
   • [ ] etc (Please specify your SBC here)

4. Which OS you installed on SBC?

   • [ ] Raspbian distributed by ROBOTIS
   • [x] Ubuntu MATE (16.04/18.04/20.04)
   • [ ] Ubuntu preinstalled server (18.04/20.04)
   • [ ] etc (Please specify your OS here)

5. Which OS you installed on Remote PC?

   • [x] Ubuntu 16.04 LTS (Xenial Xerus)
   • [ ] Ubuntu 18.04 LTS (Bionic Beaver)
   • [ ] Ubuntu 20.04 LTS (Focal Fossa)
   • [ ] Windows 10
   • [ ] MAC OS X (Specify version)
   • [ ] etc (Please specify your OS here)

6. Specify the software and firmware version(Can be found from Bringup messages)

   • Software version: [x.x.x]
   • Firmware version: [x.x.x]

7. Specify the commands or instructions to reproduce the issue.

   • ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb3_0" set_lidar_frame_id:="tb3_0/base_scan"

8. Copy and Paste the error messages on terminal.

   • HERE

9. Please describe the issue in detail.

   • I have a total of four turtlebot3 burgers. Two of them are installed with ros kinetic, ubuntu 16.04 and Raspberry Pi 3B+, and the other two are install with ros melodic, ubuntu 18.04 and Raspberry Pi 4. I want to load multiple turtlebot3 burgers and Navigate them. I use command like ROS_NAMESPACE=tb3_x roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb3_x" set_lidar_frame_id:="tb3_x/base_scan" to load multiple turtlebot3 burgers and modified the navigation launch file and .rviz file. Everything went well with the two burger with kinetic. However, something went wrong when I want to load the burgers whith melodic.
   • I visualize the navigation with rviz. When I load any of the two burgers with melodic, it tell me that Fixed Frame [map] doesn't exist, and a lot of tf about [map] also don't exist, and For Frame [base_scan]: Fixed Frame [map] doesn't exist. I fixed the first two errors by use commandrosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 map tb3_0/odom100. But the third error transformed to For Frame [base_scan]: Frame base_scan doesn't exist.
   • Then I used command rostopic echo /tb3_0/scan to see the frame id of /tb3_0/scan and found it is base_scan. But I think it should be tb3_0/base_scan for I have set the param when load the burger (by set_lidar_frame_id:="tb3_0/base_scan).
   • I don't know whereis the problem, and I found this emanual: https://emanual.robotis.com/docs/en/platform/turtlebot3/basic_examples/#load-multiple-turtlebot3s. when I select melodic, it shows a NOTE of This feature is available for Kinetic, Dashing only.
   • So, I want to know if turtlebot3 burger support loading multiple machines for ros melodic? If it does support, what are the causes of the above problem? Thanks!