ROS IndexNo version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
|
multi-turtlebot3-gazebo-ros2 repositoryteleop_twist_keyboard turtlebot3_description turtlebot3_gazebo turtlebot3_simulations velodyne_description velodyne_gazebo_plugins velodyne_simulator |
|
|
Repository Summary
| Checkout URI | https://github.com/taeyoung96/multi-turtlebot3-gazebo-ros2.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2023-08-06 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| teleop_twist_keyboard | 2.3.2 |
| turtlebot3_description | 2.1.4 |
| turtlebot3_gazebo | 2.2.3 |
| turtlebot3_simulations | 2.2.3 |
| velodyne_description | 2.0.3 |
| velodyne_gazebo_plugins | 2.0.3 |
| velodyne_simulator | 2.0.3 |
README
Multi-turtlebot3-Gazebo-ROS2
What’s New?
- Multi turtlebot3 environment
- Turtlebot3 with Velodyne VLP-16 environment
- Multi turtlebot3 Velodyne VLP-16 environment
Result
Multi turtlebot3
https://github.com/Taeyoung96/Multi-turtlebot3-Gazebo-ROS2/assets/41863759/89b961ef-96a2-440c-b406-d72db7ca710f
Turtlebot3 with Velodyne VLP-16
https://github.com/Taeyoung96/Multi-turtlebot3-Gazebo-ROS2/assets/41863759/4eb346fa-8b4e-4211-bf02-bcd098046fbb
Build docker image
docker pull tyoung96/multi-turtlebot-gazebo
Make docker container
On local terminal,
git clone https://github.com/Taeyoung96/Multi-turtlebot3-Gazebo-ROS2.git
xhost +local:docker
After that,
nvidia-docker run --privileged -it \
-e NVIDIA_DRIVER_CAPABILITIES=all \
-e NVIDIA_VISIBLE_DEVICES=all \
--volume=${Multi-turtlebot3-Gazebo_repo_root}:/root/workspace/src \
--volume=/tmp/.X11-unix:/tmp/.X11-unix:rw \
--net=host \
--ipc=host \
--name=${docker container name} \
--env="DISPLAY=$DISPLAY" \
${docker image} /bin/bash
⚠️ You should change {Multi-turtlebot3-Gazebo_repo_root}, {docker container name}, {docker image} to suit your environment.
For example,
nvidia-docker run --privileged -it \
-e NVIDIA_DRIVER_CAPABILITIES=all \
-e NVIDIA_VISIBLE_DEVICES=all \
--volume=/home/taeyoung/Desktop/Multi-turtlebot3-Gazebo-ROS2:/root/workspace/src \
--volume=/tmp/.X11-unix:/tmp/.X11-unix:rw \
--net=host \
--ipc=host \
--name=multi-turtlebot-gazebo \
--env="DISPLAY=$DISPLAY" \
--env="QT_X11_NO_MITSHM=1" \
tyoung96/multi-turtlebot-gazebo:latest /bin/bash
Build and run it!
When you run the container, it looks like this
root@taeyoung-cilab:/#
Enter them in turn to proceed with the build.
cd root/workspace/
colcon build
export TURTLEBOT3_MODEL=burger
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/root/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/
source install/setup.bash
- TODO : There is a still warning message.
Re-enter the activated docker container
docker exec -it -w /root/workspace multi-turtlebot-gazebo /bin/bash
source /opt/ros/humble/setup.bash
source install/setup.bash
Multi-turtlebot3
ros2 launch turtlebot3_gazebo multi_turtlebot3_world.launch.py
Turtlebot3 with Velodyne VLP-16
ros2 launch turtlebot3_gazebo turtlebot3_velodyne_burger.launch.py
Mutli-turtlebot3 with Velodyne VLP-16
ros2 launch turtlebot3_gazebo multi_turtlebot3_velodyne_world.launch.py
For keyboard teleop
Check /tb3_0/cmd_vel and remapping topic.
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/tb3_0/cmd_vel
Check TF
ros2 run tf2_tools view_frames
TODO
When we run the launch file, we get an error display like the one below. It’s fine to execute, but we need to figure out why.
Acknowldegement
multi_turtlebot3_world.launch code is used for [ROS2 Navigation Online Course |
The Construct](https://www.theconstructsim.com/robotigniteacademy_learnros/ros-courses-library/ros2-navigation/). |
For velodyne, I followed this youtube link and modified the code.
Each folder has their own license.
CONTRIBUTING
No CONTRIBUTING.md found.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.