基于ROS的多机器人协同建图与导航方法

依赖

1. 安装环境依赖

sudo apt-get install -y  ros-${ROS_DISTRO}-slam-gmapping \
                         ros-${ROS_DISTRO}-amcl	\
                         ros-${ROS_DISTRO}-map-server	\
                         ros-${ROS_DISTRO}-move-base	\
                         ros-${ROS_DISTRO}-navigation	\
                         ros-${ROS_DISTRO}-moveit*		\
                         ros-${ROS_DISTRO}-turtlebot3*	\
                         ros-${ROS_DISTRO}-multirobot-map-merge	\
                         ros-${ROS_DISTRO}-octomap*	\
                         ros-${ROS_DISTRO}-dynamic-edt-3d	\
                         ros-${ROS_DISTRO}-teleop-twist-keyboard	\
                         ros-${ROS_DISTRO}-costmap-*	\
                         ros-${ROS_DISTRO}-behaviortree-cpp*	\
                         cppad

2. 配置环境
   在.bashrc添加下面代码

export TURTLEBOT3_MODEL=${TB3_MODEL}
export TURTLEBOT3_MODEL=waffle_pi

使环境生效:

source .bashrc

3. 下载multi_robot功能包及编译

cd ~ && mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/GJXS1980/multi_robot.git
cd .. && catkin_make

多机器人建图功能

1.在TurtleBot3 House中启动三个TurtleBot3

roslaunch turtlebot3_gazebo multi_turtlebot3.launch

2.执行SLAM，终端1：

roslaunch turtlebot3_gazebo multi_turtlebot3_slam.launch ns:=tb3_0

终端2：

roslaunch turtlebot3_gazebo multi_turtlebot3_slam.launch ns:=tb3_1

终端3：

roslaunch turtlebot3_gazebo multi_turtlebot3_slam.launch ns:=tb3_2

3.合并来自每个TurtleBot3的地图数据:

roslaunch turtlebot3_gazebo multi_map_merge.launch

4.启动rviz:

rosrun rviz rviz -d `rospack find turtlebot3_gazebo`/rviz/multi_turtlebot3_slam.rviz

5.键盘控制：

控制第一个机器人建图

rosrun turtlebot3_teleop turtlebot3_teleop_key cmd_vel:=tb3_0/cmd_vel

控制第二个机器人建图

rosrun turtlebot3_teleop turtlebot3_teleop_key cmd_vel:=tb3_1/cmd_vel

控制第三个机器人建图

rosrun turtlebot3_teleop turtlebot3_teleop_key cmd_vel:=tb3_2/cmd_vel

6.保存地图

rosrun map_server map_saver -f ~/map

7.修改 map.yaml 中的 origin 为：

origin: [0.000000, 0.000000, 0.000000]

多机器人建图测试Demo

多机器人导航功能

1.启动多机器人模型：

roslaunch turtlebot3_gazebo multi_turtlebot3.launch

2.启动多机器人导航

cd ~/catkin_ws 
source devel/setup.bash
roslaunch turtlebot3_navigation multi_nav_bringup.launch

3.导航点设置

在rviz上面点击2D Nav给定机器人目标点，完成导航。
多机器人导航测试Demo