h2jaafar/multiple-tb3-launcher

ROS2 Multi-Robot Gazebo Package

Overview

This ROS2 package provides a Gazebo simulation environment for multi-robot setups using the Turtlebot3 Waffle Pi robots. It is designed to replace the default turtlebot3_gazebo package, offering improved support for multi-robot scenarios. The package includes a world file with four Turtlebot3 Waffle Pi robots, each with its own namespaces and frame prefixes.

Features

• Simulates four Turtlebot3 Waffle Pi robots in Gazebo.
• Properly configured namespaces and frame prefixes for each robot.
• Easy integration with ROS2 for multi-robot applications and research.

Prerequisites

Before using this package, make sure you have the following prerequisites installed:

• ROS2 (Foxy or later) installed on your system.
• Gazebo 9 or later.
• Turtlebot3 ROS2 packages installed.

Installation

1. Clone this repository into your ROS2 workspace:

   cd ~/ros2_ws/src
   git clone https://github.com/husseinalijaafar/multiple-tb3-launcher.git
   mv multiple-tb3-launcher/turtlebot3_gazebo .
   rm -rf multiple-tb3-launcher

2. Build the package using colcon:

   cd ~/ros2_ws
   colcon build

Usage

1. Launch the Gazebo simulation with four Turtlebot3 Waffle Pi robots:

   ros2 launch turtlebot3_gazebo multi_robot_world.launch.py

2. You can now control and interact with the robots using ROS2 topics, services, and actions within their respective namespaces. For example, to control robot1, you can use the namespace like this:

   ros2 topic pub /B01/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.2, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

Configuration

• The robots are configured with the following namespaces: /B01, /B02, /B03, and /B04.
• Frame prefixes for each robot are set as B01/odom, B02/odom, B03/odom, and B04/odom.

Files and Directories

• launch/: Contains launch files for starting the Gazebo simulation.
• worlds/: Includes the Gazebo world file (waffle_pi_multi.world) with four Turtlebot3 Waffle Pi robots.
• config/: Configuration files for the robots' parameters.

License

This package is released under the MIT License.

Acknowledgments

• This package is based on the Turtlebot3 ROS2 packages, and we acknowledge their contributions to the robotics community.

Contributing

Contributions to this package are welcome. Please create a pull request with your changes, and we'll review them as soon as possible.

Contact

For any questions or issues, please create an issue