multi_robot

Multirobot package to ROS and Turtlebot.

This package provides an implementation of the multi robot configuration of the turtlebot platform (see https://github.com/turtlebot). It provides a correct configuration of namespaces and frames that allows the robots to perform localization and navigation in real environments. In addition, a decision making example based on smach is provided.

Usage

Multi robot navigation:

• Bring up both robots

  $ roslaunch multi_robot multi_robot.launch

• Start Navigation

  $ roslaunch multi_robot multi_robot_navigation.launch

For visualization:

• Start RVIZ

  $ rosrun rviz rviz

• Load the config file multi_robot_full.rviz allocated in rviz folder