ROS IndexNo version for distro humble. Known supported distros are highlighted in the buttons above.
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No version for distro rolling. Known supported distros are highlighted in the buttons above.
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multi-turtlebot3-gazebo-ros2 repositorygazebo velodyne multi-robot turtlebot3 teleop_twist_keyboard turtlebot3_description turtlebot3_gazebo turtlebot3_simulations velodyne_description velodyne_gazebo_plugins velodyne_simulator |
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Repository Summary
| Description | [ROS2 humble] Custom gazebo package |
| Checkout URI | https://github.com/taeyoung96/multi-turtlebot3-gazebo-ros2.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2023-08-06 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | gazebo velodyne multi-robot turtlebot3 |
| 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.
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