Multi Robot Simulation

Description

Hello! This Repository contains ROS2 simulation files for Multi Robot Simulation in Gazebo World. Currently it works in 3 Robots.

Leader - Follower Implementation: The Coordinator_Node coordinates the movement of two follower robots (bot_2 and bot_3) based on the position of a leader robot (bot_1). It achieves this by subscribing to the Odometry messages of the leader and follower robots, computing new goal positions while maintaining a fixed distance gap, and sending navigation goals using the NavigateToPose action.

Goal pose for bot 2 is sent by getting leader bot's position (through odometry callback). Goal pose for bot 3 is sent by getting bot 2's position, which means it follows the leader robot with double of the distance which is maintained by bot 2 with leader robot.

Initial Setup

mkdir -p ros2_ws/src
cd ros2_ws/src
git clone https://github.com/Vinothhk/Multibot.git

cd ..
colcon build && source install/setup.bash

Launch Files

To launch the robots in gazebo:

ros2 launch multibot spawn_robots.launch.xml

Load the Navigation Stack:

ros2 launch multibot navigation.xml

Script

Leader - Follower Script:

ros2 run multibot followtheleader.py

Send Goal to robot

Send Goal via RViz

• Load the follow_leader.rviz from rviz folder of the package
• Ensure the goal pose topic is set to the /bot_1/goal_pose in Tool Properties (or) Change it by clicking Panels -> Tool Properties -> 2D Goal Pose

Using Joystick

sudo apt install ros-$DISTRO-teleop-twist-joy

Then,

ros2 launch teleop_twist_joy teleop-launch.py joy_vel:='/bot_1/cmd_vel'

Teleop

ros2 run teleop_twist_keyboard teleop_twist_keyboard

DEMO