多机namespace组网

 多机建图

sudo apt-get install ros-kinetic-multirobot-map-merge

　　

 【虚拟机/PC】：运行roscore

roscore

用不同的名称空间创建多个Turtlebot3。我们建议名称空间包含常用词，如tb3_0、tb3_1或my_robot_0、my_robot_1

[TurtleBot（tb3_0）]

提供基本包，其中ROS命名空间用于节点，多机器人名称用于tf前缀，设置激光雷达帧id用于激光雷达帧id。这些参数必须相同。

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

[TurtleBot（tb3_1）]

为节点提供基本包，ROS名称空间为节点，多机器人名称为tf前缀，设置激光雷达帧id为激光雷达帧id。这些参数必须与其他机器人相同，但不同。

ROS_NAMESPACE=tb3_1 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb3_1" set_lidar_frame_id:="tb3_1/base_scan"

　

【虚拟机/PC】

使用相同的命名空间启动robot state publisher。

【虚拟机/PC】对于[TurtleBot(tb3_0)]

ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_bringup turtlebot3_remote.launch multi_robot_name:=tb3_0

【虚拟机/PC】对于[TurtleBot(tb3_1)]

ROS_NAMESPACE=tb3_1 roslaunch turtlebot3_bringup turtlebot3_remote.launch multi_robot_name:=tb3_1

在启动另一个应用程序之前，请检查主题和TF树以打开rqt

rqt

　　

ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_slam turtlebot3_gmapping.launch set_base_frame:=tb3_0/base_footprint set_odom_frame:=tb3_0/odom set_map_frame:=tb3_0/map

　　

ROS_NAMESPACE=tb3_1 roslaunch turtlebot3_slam turtlebot3_gmapping.launch set_base_frame:=tb3_1/base_footprint set_odom_frame:=tb3_1/odom set_map_frame:=tb3_1/map

　　

roscd turtlebot3_slam
cd launch

　　

vim turtlebot3_map_merge.launch

　　

<launch>
  <arg name="first_tb3"  default="tb3_0"/>
  <arg name="second_tb3" default="tb3_1"/>
 
  <arg name="first_tb3_x_pos" default="-7.0"/>
  <arg name="first_tb3_y_pos" default="-1.0"/>
  <arg name="first_tb3_z_pos" default=" 0.0"/>
  <arg name="first_tb3_yaw"   default=" 0.0"/>
 
  <arg name="second_tb3_x_pos" default=" 7.0"/>
  <arg name="second_tb3_y_pos" default="-1.0"/>
  <arg name="second_tb3_z_pos" default=" 0.0"/>
  <arg name="second_tb3_yaw"   default=" 0.0"/>
 
  <group ns="$(arg first_tb3)/map_merge">
    <param name="init_pose_x"   value="$(arg first_tb3_x_pos)"/>
    <param name="init_pose_y"   value="$(arg first_tb3_y_pos)"/>
    <param name="init_pose_z"   value="$(arg first_tb3_z_pos)"/>
    <param name="init_pose_yaw" value="$(arg first_tb3_yaw)"  />
  </group>
 
  <group ns="$(arg second_tb3)/map_merge">
    <param name="init_pose_x"   value="$(arg second_tb3_x_pos)"/>
    <param name="init_pose_y"   value="$(arg second_tb3_y_pos)"/>
    <param name="init_pose_z"   value="$(arg second_tb3_z_pos)"/>
    <param name="init_pose_yaw" value="$(arg second_tb3_yaw)"  />
  </group>
 
 
  <node pkg="multirobot_map_merge" type="map_merge" respawn="false" name="map_merge" output="screen">
    <param name="robot_map_topic" value="map"/>
    <param name="robot_namespace" value="tb3"/>
    <param name="merged_map_topic" value="map"/>
    <param name="world_frame" value="map"/>
    <param name="known_init_poses" value="true"/>
    <param name="merging_rate" value="0.5"/>
    <param name="discovery_rate" value="0.05"/>
    <param name="estimation_rate" value="0.1"/>
    <param name="estimation_confidence" value="1.0"/>
  </node>
 
  <node pkg="tf" type="static_transform_publisher" name="world_to_$(arg first_tb3)_tf_broadcaster"  args="0 0 0 0 0 0 /map /$(arg first_tb3)/map 100"/>
  <node pkg="tf" type="static_transform_publisher" name="world_to_$(arg second_tb3)_tf_broadcaster" args="0 0 0 0 0 0 /map /$(arg second_tb3)/map 100"/>
</launch>
       

修改turtlebot3_map_merge.launch文件里面的机器人的位置参数

正确摆放机器人的位置

roslaunch turtlebot3_slam turtlebot3_map_merge.launch

　　

vim multi_turtlebot3_slam.rviz

　　

　

Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /TF1/Frames1
      Splitter Ratio: 0.36039602756500244
    Tree Height: 745
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: LaserScan
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 0.44999998807907104
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.029999999329447746
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 100
      Reference Frame: map
      Value: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: true
        map:
          Value: true
        tb3_0/base_footprint:
          Value: true
        tb3_0/base_link:
          Value: true
        tb3_0/base_scan:
          Value: true
        tb3_0/caster_back_link:
          Value: true
        tb3_0/imu_link:
          Value: true
        tb3_0/map:
          Value: true
        tb3_0/odom:
          Value: true
        tb3_0/wheel_left_link:
          Value: true
        tb3_0/wheel_right_link:
          Value: true
        tb3_1/base_footprint:
          Value: true
        tb3_1/base_link:
          Value: true
        tb3_1/base_scan:
          Value: true
        tb3_1/caster_back_link:
          Value: true
        tb3_1/imu_link:
          Value: true
        tb3_1/map:
          Value: true
        tb3_1/odom:
          Value: true
        tb3_1/wheel_left_link:
          Value: true
        tb3_1/wheel_right_link:
          Value: true
        tb3_2/base_footprint:
          Value: true
        tb3_2/base_link:
          Value: true
        tb3_2/base_scan:
          Value: true
        tb3_2/caster_back_link:
          Value: true
        tb3_2/imu_link:
          Value: true
        tb3_2/map:
          Value: true
        tb3_2/odom:
          Value: true
        tb3_2/wheel_left_link:
          Value: true
        tb3_2/wheel_right_link:
          Value: true
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        map:
          tb3_0/map:
            tb3_0/odom:
              tb3_0/base_footprint:
                tb3_0/base_link:
                  tb3_0/base_scan:
                    {}
                  tb3_0/caster_back_link:
                    {}
                  tb3_0/imu_link:
                    {}
                  tb3_0/wheel_left_link:
                    {}
                  tb3_0/wheel_right_link:
                    {}
          tb3_1/map:
            tb3_1/odom:
              tb3_1/base_footprint:
                tb3_1/base_link:
                  tb3_1/base_scan:
                    {}
                  tb3_1/caster_back_link:
                    {}
                  tb3_1/imu_link:
                    {}
                  tb3_1/wheel_left_link:
                    {}
                  tb3_1/wheel_right_link:
                    {}
          tb3_2/map:
            tb3_2/odom:
              tb3_2/base_footprint:
                tb3_2/base_link:
                  tb3_2/base_scan:
                    {}
                  tb3_2/caster_back_link:
                    {}
                  tb3_2/imu_link:
                    {}
                  tb3_2/wheel_left_link:
                    {}
                  tb3_2/wheel_right_link:
                    {}
      Update Interval: 0
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/LaserScan
      Color: 255; 0; 0
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 11799
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.019999999552965164
      Style: Flat Squares
      Topic: /tb3_0/scan
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/LaserScan
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 0
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Flat Squares
      Topic: /tb3_1/scan
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/LaserScan
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 0
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Flat Squares
      Topic: /tb3_2/scan
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        base_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        base_scan:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        caster_back_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        wheel_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: RobotModel
      Robot Description: tb3_0/robot_description
      TF Prefix: tb3_0
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        base_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        base_scan:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        caster_back_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        wheel_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: RobotModel
      Robot Description: tb3_1/robot_description
      TF Prefix: tb3_1
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        base_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        base_scan:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        caster_back_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        wheel_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: RobotModel
      Robot Description: tb3_2/robot_description
      TF Prefix: tb3_2
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Alpha: 0.30000001192092896
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /tb3_0/map
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 0.30000001192092896
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /tb3_1/map
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 0.30000001192092896
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /tb3_2/map
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 0.699999988079071
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /map
      Unreliable: false
      Use Timestamp: false
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: map
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Angle: -1.5699989795684814
      Class: rviz/TopDownOrtho
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Scale: 28.54726791381836
      Target Frame: map
      Value: TopDownOrtho (rviz)
      X: 4.814141750335693
      Y: -1.3036315441131592
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1027
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd0000000400000000000001e300000373fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003500000373000000b600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000216000001900000000000000000000000010000010f00000373fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000035000003730000009900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009fe0000003efc0100000002fb0000000800540069006d00650100000000000009fe0000024b00fffffffb0000000800540069006d00650100000000000004500000000000000000000008170000037300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 2558
  X: 0
Y: 0

rosrun rviz rviz -d `rospack find turtlebot3_bringup`/launch/multi_turtlebot3_slam.rviz

　　

rviz -d 'rospack find turtlebot3_slam'/rviz/muti_turtlebot3_slam.rviz

　　

ROS_NAMESPACE=tb3_0 rosrun turtlebot3_teleop turtlebot3_teleop_key

　　

ROS_NAMESPACE=tb3_1 rosrun turtlebot3_teleop turtlebot3_teleop_key

　

rosrun map_server map_saver -f ~/map

　　

http://wiki.ros.org/multirobot_map_merge

https://blog.51cto.com/u_12369060/3439700

https://www.ncnynl.com/archives/201811/2793.html