Multiple Turtlebot3 robot support in Gazebo

The ROS2 project scalable solution for launching multiple TurtleBot3 robots with navigation capabilities using the Navigation2 (Nav2) stack. By leveraging namespaces in ROS2, this project enables the seamless deployment of multiple TurtleBot3 robots in a simple and organized manner. Each robot instance can be differentiated by its unique namespace, ensuring independence and preventing naming conflicts.

Installtion

Intall ROS2 humble https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

run in terminal:

sudo apt install ros-humble-turtlebot3
sudo apt install ros-humble-turtlebot3*

create workspace and clone the source code:

mkdir -p robot_ws/src
cd robot_ws/src
git clone  [email protected]:orimana2020/Multi_robot_turtlebot.git
cd robot_ws
source /opt/ros/humble/setup.bash
rosdep install --from-paths src -r -y

build:

colcon build --symlink-install
source install/setup.bash

cd robot_ws and run in terminal 1:

source install/setup.bash
ros2 launch turtlebot3_multi_robot gazebo_multi_nav2_world.launch.py enable_drive:=True  

make sure the simulation and rviz are loaded correctly.

drive the robots: cd robot_ws run in terminal 2:

source install/setup.bash
ros2 run turtlebot3_multi_robot run.py

get the current robot's position: run in terminal 3:

source install/setup.bash
ros2 run turtlebot3_multi_robot get_current_position.py 

Run with nav2 stack

Guide: https://medium.com/@arshad.mehmood/a-guide-to-multi-robot-navigation-utilizing-turtlebot3-and-nav2-cd24f96d19c6

Robot Configuration

The arrangement of robots is configured in gazebo_multi_nav2_world.launch.py launch file. A potential future enhancement could involve retrieving the configurations from a file, such as json.

Names and poses for the robots in nav2 example

 robots = [
 {'name': 'tb1', 'x_pose': '-1.5', 'y_pose': '-0.5', 'z_pose': 0.01},
 {'name': 'tb2', 'x_pose': '-1.5', 'y_pose': '0.5', 'z_pose': 0.01},
 {'name': 'tb3', 'x_pose': '1.5', 'y_pose': '-0.5', 'z_pose': 0.01},
 {'name': 'tb4', 'x_pose': '1.5', 'y_pose': '0.5', 'z_pose': 0.01},
 # …
 # …
 ]

ros2 launch turtlebot3_multi_robot gazebo_multi_nav2_world.launch.py enable_drive:=True  use_sim_time:=True

Rviz2 output for first robot

Rviz2 output for all 4 robots

Run without nav2 stack

ros2 launch turtlebot3_multi_robot gazebo_multi_world.launch.py enable_drive:=True

turtlebot3_multi_robot