Multiple robot support

README.md

@@ -2,13 +2,13 @@
 
 Turtlebot4 Simulation using Ignition Gazebo.
 
-Visit the [TurtleBot 4 User Manual](https://turtlebot.github.io/turtlebot4-user-manual/software/turtlebot4_packages.html#turtlebot-4-simulator) for details.
+Visit the [TurtleBot 4 User Manual](https://turtlebot.github.io/turtlebot4-user-manual/software/turtlebot4_simulator.html) for details.
 
 ## Installation
 ```bash
 sudo apt-get update && sudo apt-get install wget
 sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
 wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 sudo apt-get update
-sudo apt-get install ignition-edifice ros-galactic-turtlebot4-simulator ros-galactic-irobot-create-nodes
+sudo apt-get install ignition-fortress ros-humble-turtlebot4-simulator
 ```

turtlebot4_ignition_bringup/config/turtlebot4_node.yaml

@@ -1,62 +1,63 @@
-turtlebot4_node:
-  ros__parameters:
-    wifi:
-      interface: "wlan0"
-
-      # Supported Functions:
-      # Dock
-      # Undock
-      # Wall Follow Left
-      # Wall Follow Right
-      # Power
-      # EStop
-
-      # Menu Functions:
-      # Scroll Up
-      # Scroll Down
-      # Back
-      # Select
-      # Help
-
+/**:
+  turtlebot4_node:
+    ros__parameters:
+      wifi:
+        interface: "wlan0"
+
+        # Supported Functions:
+        # Dock
+        # Undock
+        # Wall Follow Left
+        # Wall Follow Right
+        # Power
+        # EStop
+
+        # Menu Functions:
+        # Scroll Up
+        # Scroll Down
+        # Back
+        # Select
+        # Help
+
+        # Buttons:
+        # create3_1
+        # create3_power
+        # create3_2
+        # hmi_1
+        # hmi_2
+        # hmi_3
+        # hmi_4
+
+        # Format:
+        # button: ["SHORT_PRESS_FUNC", "LONG_PRESS_FUNC", "LONG_PRESS_DURATION_MS"]
+
+      buttons:  
+        create3_1: ["Dock", "Wall Follow Left", "2000"]
+        create3_power: ["EStop", "Power", "3000"]
+        create3_2: ["Undock", "Wall Follow Right", "2000"]
+
+        hmi_1: ["Select"]
+        hmi_2: ["Back"]
+        hmi_3: ["Scroll Up"]
+        hmi_4: ["Scroll Down"]
+
+        # Menu entry must match a function
+      menu:
+        entries: ["Dock", "Undock", "EStop", "Wall Follow Left", "Wall Follow Right", "Power", "Help"]
+
+      # Controller button functions
       # Buttons:
-      # create3_1
-      # create3_power
-      # create3_2
-      # hmi_1
-      # hmi_2
-      # hmi_3
-      # hmi_4
-
-      # Format:
-      # button: ["SHORT_PRESS_FUNC", "LONG_PRESS_FUNC", "LONG_PRESS_DURATION_MS"]
-
-    buttons:  
-      create3_1: ["Dock", "Wall Follow Left", "2000"]
-      create3_power: ["EStop", "Power", "3000"]
-      create3_2: ["Undock", "Wall Follow Right", "2000"]
-
-      hmi_1: ["Select"]
-      hmi_2: ["Back"]
-      hmi_3: ["Scroll Up"]
-      hmi_4: ["Scroll Down"]
-
-      # Menu entry must match a function
-    menu:
-      entries: ["Dock", "Undock", "EStop", "Wall Follow Left", "Wall Follow Right", "Power", "Help"]
-
-    # Controller button functions
-    # Buttons:
-    # a b x y
-    # up down left right
-    # l1 l2 l3 r1 r2 r3
-    # share options home
-
-    controller:
-      b: ["EStop"]
-      a: ["Select"]
-      x: ["Back"]
-      up: ["Scroll Up"]
-      down: ["Scroll Down"]
-      l2: ["Wall Follow Left"]
-      r2: ["Wall Follow Right"]
-      home: ["Dock", "Undock", "3000"]
+      # a b x y
+      # up down left right
+      # l1 l2 l3 r1 r2 r3
+      # share options home
+
+      controller:
+        b: ["EStop"]
+        a: ["Select"]
+        x: ["Back"]
+        up: ["Scroll Up"]
+        down: ["Scroll Down"]
+        l2: ["Wall Follow Left"]
+        r2: ["Wall Follow Right"]
+        home: ["Dock", "Undock", "3000"]

turtlebot4_ignition_bringup/gui/lite/gui.config

@@ -103,6 +103,7 @@
 
 <!-- Teleop -->
 <plugin filename="Teleop">
+  <topic>/cmd_vel</topic>
   <ignition-gui>
     <property type="bool" key="showTitleBar">true</property>
     <property type="string" key="state">docked</property>

turtlebot4_ignition_bringup/gui/standard/gui.config

@@ -103,6 +103,7 @@
 
 <!-- Teleop -->
 <plugin filename="Teleop">
+  <topic>/cmd_vel</topic>
   <ignition-gui>
     <property type="bool" key="showTitleBar">true</property>
     <property type="string" key="state">docked</property>