# multi_turtlebot3

**Repository Path**: windavatar/multi_turtlebot3

## Basic Information

- **Project Name**: multi_turtlebot3
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: multibots-dev
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-01-18
- **Last Updated**: 2021-01-18

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Multiple TurtleBot3 Navigation Environment
Literally as title, this package provides launch files allowing turtlebots to navigate in "the house". 


## Installation
1. Install ROS. (Hey Google, what is ROS?)
2. Clone all relative packages into <your_ws>/src/.
```
source /opt/ros/melodic/setup.bash
cd catkin_ws
wget https://gist.githubusercontent.com/airuchen/5e58eb5dc54d6dc38ea5d2bedd53f69e/raw/ae3b850aca5a0577105c682eec1ab3b534161cc2/multi_omnibot.repos
vcs import src/ < multiple_turtlebot3_env.repos
catkin_make
source devel/setup.bash
```

## Usage 
1. First terminal -- Launch the simulation

* Source setup file.
```
source /opt/ros/melodic/setup.bash
source <your_ws>/devel/setup.bash
export TURTLEBOT3_MODEL=waffle_pi
```
* Launch multiple turtlebot3 in Gazebo simulation.
```
roslaunch turtlebot3_gazebo multi_turtlebot3.launch
```
There, there, you'll see the Gazebo window showing house model and three turtlebot3 -- tb3_0, tb3_1, tb3_2
![](resources/gazebo.png)
***To save the usage of your CPU usage, killall gzclient can close the GUI, which consumes lots of resource.***

2. Second terminal -- Launch navigation stacks
* Source setup file.
```
source /opt/ros/melodic/setup.bash
source <your_ws>/devel/setup.bash
```
* Launch Navigation for three turtlebot3.
```
roslaunch turtlebot3_navigation multi_nav_bringup.launch
```
Rviz shows up.
![](resources/rviz_all.png)

By changing topics in Tool properties, set Pose estimation of each bot.
![](resources/rviz_tool_properties.png)

After setting each of their pose, Rviz would be like this.
![](resources/rviz_set_pose.png)

Now, the way to set goal is identical with how you set the pose estimation. Try to give each robot a different goal. 
![](resources/rviz_set_goal.png)

## Control with Behavior Tree
```
rosrun bt_sample node _file:=/home/<user>/catkin_ws/src/BT_ros1/BT_sample/cfg/multi_bt.xml
```
The behavior tree will set goal to each robot. [See the DEMO](https://www.youtube.com/watch?v=hilXQiEUrk8)