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