multirobot_map_merge_tests

Package multirobot_map_merge_tests is based on turtlebot_gazebo. It creates a sample scene in Gazebo and spawns two turtlebots with slam_gmapping and navigation stack. Robots publish two map topics - turtle1/map and turtle2/map. They can be merged into one map with multirobot_map_merge package. That package automatically register itself to turtleX/map topics and publish map_merge/map.

To run it locally:

• roslaunch multirobot_map_merge_tests spawn_two_turtlebots.launch
• To control robot launch keyboard_teleop_turtleX.launch

I created dockerfiles that contain all needed packages and configuration to run project in PC without ROS. You can also just pull docker image from: fitter/multirobot_map_merge_tests:latest If you want to configure your ros locally in your machine you can find some tips in docker files.

To run it via docker:

• You can use img from dockerhub or just build one in your machine
• Expose your xhost xhost +local:root (the simplest way, but not secure. More info here)
• docker run -it -e DISPLAY -e QT_X11_NO_MITSHM=1 -v /tmp/.X11-unix:/tmp/.X11-unix:rw --device /dev/dri --rm <name of img> <- for full GUI mode
• or just docker run -it -e k8s=true --rm <name if img> <- ""headless"" mode for kubernetes
• When you are done dont forget about xhost -local:root

To simultaneously run two replays:

• rosparam set use_sim_time true
• edit bag_player/play_two_bags_sync.launch and change the bagfiles patch into correct one
• roslaunch multirobot_map_merge_tests bag_player/play_two_bags_sync.launch

IMPORTANT:

Map is merged correctly only with confidence > 1. You can check that parameter in map_merge logs. If it's lower map is not merged.