turtlebot3_simulations
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how to use multi_turtlebot3_slam.launch
i want to tun multi turtlebot3 slam can you provide commands to run : multi_turtlebot3.launch multi_turtlebot3_slam.launch
Hi, @SmileCaoJ You can find more information about multi turtlebot slam from the eManual. https://emanual.robotis.com/docs/en/platform/turtlebot3/slam_simulation/
Detailed instructions can be unfolded at the end of the page as shown below.
Thanks!
Hello, The link which you have provided is for ROS1, can you please provide more details for ROS2 Foxy? @ROBOTIS-Will
I was trying to create a multi-robot publisher subscriber, but I am stuck at this point:
'''[INFO] [launch]: All log files can be found below /root/.ros/log/2021-11-05-04-55-13-178914-43f72736656e-60779
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_burger.urdf
[INFO] [gzserver-1]: process started with pid [60781]
[INFO] [gzclient -2]: process started with pid [60784]
[INFO] [ros2-3]: process started with pid [60787]
[INFO] [spawn_tb3-4]: process started with pid [60789]
[INFO] [spawn_tb3-5]: process started with pid [60791]
[INFO] [spawn_tb3-6]: process started with pid [60793]
[INFO] [spawn_tb3-7]: process started with pid [60795]
[INFO] [spawn_tb3-8]: process started with pid [60797]
[INFO] [spawn_tb3-9]: process started with pid [60799]
[INFO] [spawn_tb3-10]: process started with pid [60801]
[INFO] [spawn_tb3-11]: process started with pid [60803]
[INFO] [spawn_tb3-12]: process started with pid [60805]
[INFO] [spawn_tb3-13]: process started with pid [60808]
[ERROR] [gzserver-1]: process has died [pid 60781, exit code 255, cmd 'gzserver -s libgazebo_ros_init.so -s libgazebo_ros_factory.so -s libgazebo_ros_force_system.so '].
[spawn_tb3-6] [INFO] [1636088114.631804433] [entity_spawner]: Creating Service client to connect to /spawn_entity
[spawn_tb3-4] [INFO] [1636088114.633664358] [entity_spawner]: Creating Service client to connect to /spawn_entity
[spawn_tb3-8] [INFO] [1636088114.679993802] [entity_spawner]: Creating Service client to connect to /spawn_entity
[spawn_tb3-11] [INFO] [1636088114.721817091] [entity_spawner]: Creating Service client to connect to /spawn_entity
[spawn_tb3-7] [INFO] [1636088114.731126055] [entity_spawner]: Creating Service client to connect to /spawn_entity
[spawn_tb3-9] [INFO] [1636088114.732666897] [entity_spawner]: Creating Service client to connect to /spawn_entity
[spawn_tb3-10] [INFO] [1636088114.736860581] [entity_spawner]: Creating Service client to connect to /spawn_entity
[spawn_tb3-5] [INFO] [1636088114.753322232] [entity_spawner]: Creating Service client to connect to /spawn_entity
[spawn_tb3-13] [INFO] [1636088114.788017188] [entity_spawner]: Creating Service client to connect to /spawn_entity
[spawn_tb3-12] [INFO] [1636088114.830102478] [entity_spawner]: Creating Service client to connect to /spawn_entity
[spawn_tb3-4] [INFO] [1636088114.838105174] [entity_spawner]: Connecting to /spawn_entity
service...
[spawn_tb3-6] [INFO] [1636088114.845386148] [entity_spawner]: Connecting to /spawn_entity
service...
[spawn_tb3-6] [INFO] [1636088114.845848637] [entity_spawner]: Done! Shutting down node.
[spawn_tb3-4] [INFO] [1636088114.851130946] [entity_spawner]: Done! Shutting down node.
[spawn_tb3-6] /opt/ros/foxy/share/turtlebot3_description/urdf/turtlebot3_burger.urdf
[spawn_tb3-9] [INFO] [1636088114.929537513] [entity_spawner]: Connecting to /spawn_entity
service...
[spawn_tb3-9] [INFO] [1636088114.930014176] [entity_spawner]: Done! Shutting down node.
[spawn_tb3-4] /opt/ros/foxy/share/turtlebot3_description/urdf/turtlebot3_burger.urdf
[spawn_tb3-8] [INFO] [1636088114.960174290] [entity_spawner]: Connecting to /spawn_entity
service...
[spawn_tb3-8] [INFO] [1636088114.960661618] [entity_spawner]: Done! Shutting down node.
[spawn_tb3-11] [INFO] [1636088114.967483431] [entity_spawner]: Connecting to /spawn_entity
service...
[spawn_tb3-11] [INFO] [1636088114.967972837] [entity_spawner]: Done! Shutting down node.
[INFO] [spawn_tb3-6]: process has finished cleanly [pid 60793]
[spawn_tb3-7] [INFO] [1636088114.984250193] [entity_spawner]: Connecting to /spawn_entity
service...
[spawn_tb3-7] [INFO] [1636088114.985397108] [entity_spawner]: Done! Shutting down node.
[spawn_tb3-13] [INFO] [1636088114.985569411] [entity_spawner]: Connecting to /spawn_entity
service...
[spawn_tb3-13] [INFO] [1636088114.986042042] [entity_spawner]: Done! Shutting down node.
[spawn_tb3-8] /opt/ros/foxy/share/turtlebot3_description/urdf/turtlebot3_burger.urdf
[spawn_tb3-10] [INFO] [1636088115.011123227] [entity_spawner]: Connecting to /spawn_entity
service...
[spawn_tb3-10] [INFO] [1636088115.011606507] [entity_spawner]: Done! Shutting down node.
[spawn_tb3-9] /opt/ros/foxy/share/turtlebot3_description/urdf/turtlebot3_burger.urdf
[spawn_tb3-7] /opt/ros/foxy/share/turtlebot3_description/urdf/turtlebot3_burger.urdf
[INFO] [spawn_tb3-4]: process has finished cleanly [pid 60789]
[spawn_tb3-11] /opt/ros/foxy/share/turtlebot3_description/urdf/turtlebot3_burger.urdf
[spawn_tb3-13] /opt/ros/foxy/share/turtlebot3_description/urdf/turtlebot3_burger.urdf
[spawn_tb3-12] [INFO] [1636088115.039478503] [entity_spawner]: Connecting to /spawn_entity
service...
[spawn_tb3-12] [INFO] [1636088115.039978211] [entity_spawner]: Done! Shutting down node.
[spawn_tb3-10] /opt/ros/foxy/share/turtlebot3_description/urdf/turtlebot3_burger.urdf
[INFO] [spawn_tb3-8]: process has finished cleanly [pid 60797]
[INFO] [spawn_tb3-10]: process has finished cleanly [pid 60801]
[INFO] [spawn_tb3-9]: process has finished cleanly [pid 60799]
[INFO] [spawn_tb3-7]: process has finished cleanly [pid 60795]
[INFO] [spawn_tb3-11]: process has finished cleanly [pid 60803]
[spawn_tb3-12] /opt/ros/foxy/share/turtlebot3_description/urdf/turtlebot3_burger.urdf
[INFO] [spawn_tb3-13]: process has finished cleanly [pid 60808]
[spawn_tb3-5] [INFO] [1636088115.133746879] [entity_spawner]: Connecting to /spawn_entity
service...
[spawn_tb3-5] [INFO] [1636088115.134218905] [entity_spawner]: Done! Shutting down node.
[INFO] [spawn_tb3-12]: process has finished cleanly [pid 60805]
[spawn_tb3-5] /opt/ros/foxy/share/turtlebot3_description/urdf/turtlebot3_burger.urdf
[ros2-3] Set parameter successful
[INFO] [spawn_tb3-5]: process has finished cleanly [pid 60791]
[INFO] [ros2-3]: process has finished cleanly [pid 60787]
[INFO] [gzclient -2]: process has finished cleanly [pid 60784]'''
But I am not seeing any spawned robot in gazebo. I followed the following tutorial: https://www.youtube.com/watch?v=OMwK8u7bap0
My code package can be found here: https://github.com/zorawar12/tb3_swarm.git