├── LICENSE
├── README.md
├── map_launcher
├── CMakeLists.txt
├── map
│ ├── map.pgm
│ └── map.yaml
├── package.xml
└── rviz
│ ├── navigation.rviz
│ └── turtlebot3_navigation.rviz
├── multi_turtlebots_nav
├── CMakeLists.txt
├── launch
│ ├── amcl_robot1.launch
│ ├── amcl_robot2.launch
│ ├── amcl_robot3.launch
│ ├── move_base_1.launch
│ ├── move_base_2.launch
│ ├── move_base_3.launch
│ └── navigation.launch
├── package.xml
└── param
│ ├── base_local_planner_params.yaml
│ ├── costmap_common_params.yaml
│ ├── dwa_local_planner_params.yaml
│ ├── global_costmap_params.yaml
│ ├── local_costmap_params.yaml
│ └── move_base_params.yaml
├── multi_turtlebots_sim
├── CMakeLists.txt
├── launch
│ ├── main.launch
│ ├── one_robot.launch
│ ├── robots.launch
│ └── test.launch
├── package.xml
└── turtlebot3_description
│ ├── meshes
│ ├── bases
│ │ └── burger_base.stl
│ ├── sensors
│ │ ├── astra.dae
│ │ ├── astra.jpg
│ │ ├── lds.stl
│ │ ├── r200.dae
│ │ └── r200.jpg
│ └── wheels
│ │ ├── left_tire.stl
│ │ └── right_tire.stl
│ ├── rviz
│ └── model.rviz
│ ├── urdf
│ ├── common_properties.xacro
│ ├── turtlebot3_burger.gazebo.xacro
│ └── turtlebot3_burger.urdf.xacro
│ └── world
│ ├── square.world
│ └── turtlebot3_house.world
└── thumbnail.png
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537 | any implied license or other defenses to infringement that may
538 | otherwise be available to you under applicable patent law.
539 |
540 | 12. No Surrender of Others' Freedom.
541 |
542 | If conditions are imposed on you (whether by court order, agreement or
543 | otherwise) that contradict the conditions of this License, they do not
544 | excuse you from the conditions of this License. If you cannot convey a
545 | covered work so as to satisfy simultaneously your obligations under this
546 | License and any other pertinent obligations, then as a consequence you may
547 | not convey it at all. For example, if you agree to terms that obligate you
548 | to collect a royalty for further conveying from those to whom you convey
549 | the Program, the only way you could satisfy both those terms and this
550 | License would be to refrain entirely from conveying the Program.
551 |
552 | 13. Use with the GNU Affero General Public License.
553 |
554 | Notwithstanding any other provision of this License, you have
555 | permission to link or combine any covered work with a work licensed
556 | under version 3 of the GNU Affero General Public License into a single
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558 | License will continue to apply to the part which is the covered work,
559 | but the special requirements of the GNU Affero General Public License,
560 | section 13, concerning interaction through a network will apply to the
561 | combination as such.
562 |
563 | 14. Revised Versions of this License.
564 |
565 | The Free Software Foundation may publish revised and/or new versions of
566 | the GNU General Public License from time to time. Such new versions will
567 | be similar in spirit to the present version, but may differ in detail to
568 | address new problems or concerns.
569 |
570 | Each version is given a distinguishing version number. If the
571 | Program specifies that a certain numbered version of the GNU General
572 | Public License "or any later version" applies to it, you have the
573 | option of following the terms and conditions either of that numbered
574 | version or of any later version published by the Free Software
575 | Foundation. If the Program does not specify a version number of the
576 | GNU General Public License, you may choose any version ever published
577 | by the Free Software Foundation.
578 |
579 | If the Program specifies that a proxy can decide which future
580 | versions of the GNU General Public License can be used, that proxy's
581 | public statement of acceptance of a version permanently authorizes you
582 | to choose that version for the Program.
583 |
584 | Later license versions may give you additional or different
585 | permissions. However, no additional obligations are imposed on any
586 | author or copyright holder as a result of your choosing to follow a
587 | later version.
588 |
589 | 15. Disclaimer of Warranty.
590 |
591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
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597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
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600 | 16. Limitation of Liability.
601 |
602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
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610 | SUCH DAMAGES.
611 |
612 | 17. Interpretation of Sections 15 and 16.
613 |
614 | If the disclaimer of warranty and limitation of liability provided
615 | above cannot be given local legal effect according to their terms,
616 | reviewing courts shall apply local law that most closely approximates
617 | an absolute waiver of all civil liability in connection with the
618 | Program, unless a warranty or assumption of liability accompanies a
619 | copy of the Program in return for a fee.
620 |
621 | END OF TERMS AND CONDITIONS
622 |
623 | How to Apply These Terms to Your New Programs
624 |
625 | If you develop a new program, and you want it to be of the greatest
626 | possible use to the public, the best way to achieve this is to make it
627 | free software which everyone can redistribute and change under these terms.
628 |
629 | To do so, attach the following notices to the program. It is safest
630 | to attach them to the start of each source file to most effectively
631 | state the exclusion of warranty; and each file should have at least
632 | the "copyright" line and a pointer to where the full notice is found.
633 |
634 |
635 | Copyright (C)
636 |
637 | This program is free software: you can redistribute it and/or modify
638 | it under the terms of the GNU General Public License as published by
639 | the Free Software Foundation, either version 3 of the License, or
640 | (at your option) any later version.
641 |
642 | This program is distributed in the hope that it will be useful,
643 | but WITHOUT ANY WARRANTY; without even the implied warranty of
644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
645 | GNU General Public License for more details.
646 |
647 | You should have received a copy of the GNU General Public License
648 | along with this program. If not, see .
649 |
650 | Also add information on how to contact you by electronic and paper mail.
651 |
652 | If the program does terminal interaction, make it output a short
653 | notice like this when it starts in an interactive mode:
654 |
655 | Copyright (C)
656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
657 | This is free software, and you are welcome to redistribute it
658 | under certain conditions; type `show c' for details.
659 |
660 | The hypothetical commands `show w' and `show c' should show the appropriate
661 | parts of the General Public License. Of course, your program's commands
662 | might be different; for a GUI interface, you would use an "about box".
663 |
664 | You should also get your employer (if you work as a programmer) or school,
665 | if any, to sign a "copyright disclaimer" for the program, if necessary.
666 | For more information on this, and how to apply and follow the GNU GPL, see
667 | .
668 |
669 | The GNU General Public License does not permit incorporating your program
670 | into proprietary programs. If your program is a subroutine library, you
671 | may consider it more useful to permit linking proprietary applications with
672 | the library. If this is what you want to do, use the GNU Lesser General
673 | Public License instead of this License. But first, please read
674 | .
675 |
--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | # Navigate_Multiple_Robots
2 |
3 | 
4 |
5 | How to navigate multiple robots in simulation using ROS and Gazebo.
6 |
7 | [](https://www.youtube.com/watch?v=iyL_hsqjKWI)
8 |
9 | Topic Credits:
10 | "The Construct"
11 |
--------------------------------------------------------------------------------
/map_launcher/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 2.8.3)
2 | project(map_launcher)
3 |
4 | ## Compile as C++11, supported in ROS Kinetic and newer
5 | # add_compile_options(-std=c++11)
6 |
7 | ## Find catkin macros and libraries
8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
9 | ## is used, also find other catkin packages
10 | find_package(catkin REQUIRED)
11 |
12 | ## System dependencies are found with CMake's conventions
13 | # find_package(Boost REQUIRED COMPONENTS system)
14 |
15 |
16 | ## Uncomment this if the package has a setup.py. This macro ensures
17 | ## modules and global scripts declared therein get installed
18 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
19 | # catkin_python_setup()
20 |
21 | ################################################
22 | ## Declare ROS messages, services and actions ##
23 | ################################################
24 |
25 | ## To declare and build messages, services or actions from within this
26 | ## package, follow these steps:
27 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
28 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
29 | ## * In the file package.xml:
30 | ## * add a build_depend tag for "message_generation"
31 | ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
32 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
33 | ## but can be declared for certainty nonetheless:
34 | ## * add a exec_depend tag for "message_runtime"
35 | ## * In this file (CMakeLists.txt):
36 | ## * add "message_generation" and every package in MSG_DEP_SET to
37 | ## find_package(catkin REQUIRED COMPONENTS ...)
38 | ## * add "message_runtime" and every package in MSG_DEP_SET to
39 | ## catkin_package(CATKIN_DEPENDS ...)
40 | ## * uncomment the add_*_files sections below as needed
41 | ## and list every .msg/.srv/.action file to be processed
42 | ## * uncomment the generate_messages entry below
43 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
44 |
45 | ## Generate messages in the 'msg' folder
46 | # add_message_files(
47 | # FILES
48 | # Message1.msg
49 | # Message2.msg
50 | # )
51 |
52 | ## Generate services in the 'srv' folder
53 | # add_service_files(
54 | # FILES
55 | # Service1.srv
56 | # Service2.srv
57 | # )
58 |
59 | ## Generate actions in the 'action' folder
60 | # add_action_files(
61 | # FILES
62 | # Action1.action
63 | # Action2.action
64 | # )
65 |
66 | ## Generate added messages and services with any dependencies listed here
67 | # generate_messages(
68 | # DEPENDENCIES
69 | # std_msgs # Or other packages containing msgs
70 | # )
71 |
72 | ################################################
73 | ## Declare ROS dynamic reconfigure parameters ##
74 | ################################################
75 |
76 | ## To declare and build dynamic reconfigure parameters within this
77 | ## package, follow these steps:
78 | ## * In the file package.xml:
79 | ## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
80 | ## * In this file (CMakeLists.txt):
81 | ## * add "dynamic_reconfigure" to
82 | ## find_package(catkin REQUIRED COMPONENTS ...)
83 | ## * uncomment the "generate_dynamic_reconfigure_options" section below
84 | ## and list every .cfg file to be processed
85 |
86 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
87 | # generate_dynamic_reconfigure_options(
88 | # cfg/DynReconf1.cfg
89 | # cfg/DynReconf2.cfg
90 | # )
91 |
92 | ###################################
93 | ## catkin specific configuration ##
94 | ###################################
95 | ## The catkin_package macro generates cmake config files for your package
96 | ## Declare things to be passed to dependent projects
97 | ## INCLUDE_DIRS: uncomment this if your package contains header files
98 | ## LIBRARIES: libraries you create in this project that dependent projects also need
99 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
100 | ## DEPENDS: system dependencies of this project that dependent projects also need
101 | catkin_package(
102 | # INCLUDE_DIRS include
103 | # LIBRARIES map_launcher
104 | # CATKIN_DEPENDS other_catkin_pkg
105 | # DEPENDS system_lib
106 | )
107 |
108 | ###########
109 | ## Build ##
110 | ###########
111 |
112 | ## Specify additional locations of header files
113 | ## Your package locations should be listed before other locations
114 | include_directories(
115 | # include
116 | # ${catkin_INCLUDE_DIRS}
117 | )
118 |
119 | ## Declare a C++ library
120 | # add_library(${PROJECT_NAME}
121 | # src/${PROJECT_NAME}/map_launcher.cpp
122 | # )
123 |
124 | ## Add cmake target dependencies of the library
125 | ## as an example, code may need to be generated before libraries
126 | ## either from message generation or dynamic reconfigure
127 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
128 |
129 | ## Declare a C++ executable
130 | ## With catkin_make all packages are built within a single CMake context
131 | ## The recommended prefix ensures that target names across packages don't collide
132 | # add_executable(${PROJECT_NAME}_node src/map_launcher_node.cpp)
133 |
134 | ## Rename C++ executable without prefix
135 | ## The above recommended prefix causes long target names, the following renames the
136 | ## target back to the shorter version for ease of user use
137 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
138 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
139 |
140 | ## Add cmake target dependencies of the executable
141 | ## same as for the library above
142 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
143 |
144 | ## Specify libraries to link a library or executable target against
145 | # target_link_libraries(${PROJECT_NAME}_node
146 | # ${catkin_LIBRARIES}
147 | # )
148 |
149 | #############
150 | ## Install ##
151 | #############
152 |
153 | # all install targets should use catkin DESTINATION variables
154 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
155 |
156 | ## Mark executable scripts (Python etc.) for installation
157 | ## in contrast to setup.py, you can choose the destination
158 | # install(PROGRAMS
159 | # scripts/my_python_script
160 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
161 | # )
162 |
163 | ## Mark executables for installation
164 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
165 | # install(TARGETS ${PROJECT_NAME}_node
166 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
167 | # )
168 |
169 | ## Mark libraries for installation
170 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
171 | # install(TARGETS ${PROJECT_NAME}
172 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
173 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
174 | # RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
175 | # )
176 |
177 | ## Mark cpp header files for installation
178 | # install(DIRECTORY include/${PROJECT_NAME}/
179 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
180 | # FILES_MATCHING PATTERN "*.h"
181 | # PATTERN ".svn" EXCLUDE
182 | # )
183 |
184 | ## Mark other files for installation (e.g. launch and bag files, etc.)
185 | # install(FILES
186 | # # myfile1
187 | # # myfile2
188 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
189 | # )
190 |
191 | #############
192 | ## Testing ##
193 | #############
194 |
195 | ## Add gtest based cpp test target and link libraries
196 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_map_launcher.cpp)
197 | # if(TARGET ${PROJECT_NAME}-test)
198 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
199 | # endif()
200 |
201 | ## Add folders to be run by python nosetests
202 | # catkin_add_nosetests(test)
203 |
--------------------------------------------------------------------------------
/map_launcher/map/map.pgm:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/pallavbhalla/Navigate_Multiple_Robots/546ff5ca48fe0babc959ec24062834c03320df50/map_launcher/map/map.pgm
--------------------------------------------------------------------------------
/map_launcher/map/map.yaml:
--------------------------------------------------------------------------------
1 | image: /home/pallav/test/map.pgm
2 | resolution: 0.050000
3 | origin: [-10.000000, -10.000000, 0.000000]
4 | negate: 0
5 | occupied_thresh: 0.65
6 | free_thresh: 0.196
7 |
8 |
--------------------------------------------------------------------------------
/map_launcher/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | map_launcher
4 | 0.0.0
5 | The map_launcher package
6 |
7 |
8 |
9 |
10 | pallav
11 |
12 |
13 |
14 |
15 |
16 | TODO
17 |
18 |
19 |
20 |
21 |
22 |
23 |
24 |
25 |
26 |
27 |
28 |
29 |
30 |
31 |
32 |
33 |
34 |
35 |
36 |
37 |
38 |
39 |
40 |
41 |
42 |
43 |
44 |
45 |
46 |
47 |
48 |
49 |
50 |
51 | catkin
52 |
53 |
54 |
55 |
56 |
57 |
58 |
59 |
60 |
--------------------------------------------------------------------------------
/map_launcher/rviz/navigation.rviz:
--------------------------------------------------------------------------------
1 | Panels:
2 | - Class: rviz/Displays
3 | Help Height: 78
4 | Name: Displays
5 | Property Tree Widget:
6 | Expanded:
7 | - /Global Options1
8 | - /Status1
9 | Splitter Ratio: 0.5
10 | Tree Height: 565
11 | - Class: rviz/Selection
12 | Name: Selection
13 | - Class: rviz/Tool Properties
14 | Expanded:
15 | - /2D Pose Estimate1
16 | - /2D Nav Goal1
17 | - /Publish Point1
18 | Name: Tool Properties
19 | Splitter Ratio: 0.588679016
20 | - Class: rviz/Views
21 | Expanded:
22 | - /Current View1
23 | Name: Views
24 | Splitter Ratio: 0.5
25 | - Class: rviz/Time
26 | Experimental: false
27 | Name: Time
28 | SyncMode: 0
29 | SyncSource: ""
30 | Toolbars:
31 | toolButtonStyle: 2
32 | Visualization Manager:
33 | Class: ""
34 | Displays:
35 | - Alpha: 0.5
36 | Cell Size: 1
37 | Class: rviz/Grid
38 | Color: 160; 160; 164
39 | Enabled: true
40 | Line Style:
41 | Line Width: 0.0299999993
42 | Value: Lines
43 | Name: Grid
44 | Normal Cell Count: 0
45 | Offset:
46 | X: 0
47 | Y: 0
48 | Z: 0
49 | Plane: XY
50 | Plane Cell Count: 10
51 | Reference Frame:
52 | Value: true
53 | - Alpha: 1
54 | Class: rviz/RobotModel
55 | Collision Enabled: false
56 | Enabled: true
57 | Links:
58 | All Links Enabled: true
59 | Expand Joint Details: false
60 | Expand Link Details: false
61 | Expand Tree: false
62 | Link Tree Style: Links in Alphabetic Order
63 | base_footprint:
64 | Alpha: 1
65 | Show Axes: false
66 | Show Trail: false
67 | base_link:
68 | Alpha: 1
69 | Show Axes: false
70 | Show Trail: false
71 | Value: true
72 | base_scan:
73 | Alpha: 1
74 | Show Axes: false
75 | Show Trail: false
76 | Value: true
77 | caster_back_link:
78 | Alpha: 1
79 | Show Axes: false
80 | Show Trail: false
81 | Value: true
82 | imu_link:
83 | Alpha: 1
84 | Show Axes: false
85 | Show Trail: false
86 | wheel_left_link:
87 | Alpha: 1
88 | Show Axes: false
89 | Show Trail: false
90 | Value: true
91 | wheel_right_link:
92 | Alpha: 1
93 | Show Axes: false
94 | Show Trail: false
95 | Value: true
96 | Name: RobotModel
97 | Robot Description: robot_description
98 | TF Prefix: robot1_tf
99 | Update Interval: 0
100 | Value: true
101 | Visual Enabled: true
102 | - Class: rviz/TF
103 | Enabled: true
104 | Frame Timeout: 15
105 | Frames:
106 | All Enabled: true
107 | map:
108 | Value: true
109 | robot1_tf/base_footprint:
110 | Value: true
111 | robot1_tf/base_link:
112 | Value: true
113 | robot1_tf/base_scan:
114 | Value: true
115 | robot1_tf/caster_back_link:
116 | Value: true
117 | robot1_tf/imu_link:
118 | Value: true
119 | robot1_tf/odom:
120 | Value: true
121 | robot1_tf/wheel_left_link:
122 | Value: true
123 | robot1_tf/wheel_right_link:
124 | Value: true
125 | robot2_tf/base_footprint:
126 | Value: true
127 | robot2_tf/base_link:
128 | Value: true
129 | robot2_tf/base_scan:
130 | Value: true
131 | robot2_tf/caster_back_link:
132 | Value: true
133 | robot2_tf/imu_link:
134 | Value: true
135 | robot2_tf/odom:
136 | Value: true
137 | robot2_tf/wheel_left_link:
138 | Value: true
139 | robot2_tf/wheel_right_link:
140 | Value: true
141 | robot3_tf/base_footprint:
142 | Value: true
143 | robot3_tf/base_link:
144 | Value: true
145 | robot3_tf/base_scan:
146 | Value: true
147 | robot3_tf/caster_back_link:
148 | Value: true
149 | robot3_tf/imu_link:
150 | Value: true
151 | robot3_tf/odom:
152 | Value: true
153 | robot3_tf/wheel_left_link:
154 | Value: true
155 | robot3_tf/wheel_right_link:
156 | Value: true
157 | Marker Scale: 1
158 | Name: TF
159 | Show Arrows: false
160 | Show Axes: false
161 | Show Names: false
162 | Tree:
163 | map:
164 | robot1_tf/odom:
165 | robot1_tf/base_footprint:
166 | robot1_tf/base_link:
167 | robot1_tf/base_scan:
168 | {}
169 | robot1_tf/caster_back_link:
170 | {}
171 | robot1_tf/imu_link:
172 | {}
173 | robot1_tf/wheel_left_link:
174 | {}
175 | robot1_tf/wheel_right_link:
176 | {}
177 | robot2_tf/odom:
178 | robot2_tf/base_footprint:
179 | robot2_tf/base_link:
180 | robot2_tf/base_scan:
181 | {}
182 | robot2_tf/caster_back_link:
183 | {}
184 | robot2_tf/imu_link:
185 | {}
186 | robot2_tf/wheel_left_link:
187 | {}
188 | robot2_tf/wheel_right_link:
189 | {}
190 | robot3_tf/odom:
191 | robot3_tf/base_footprint:
192 | robot3_tf/base_link:
193 | robot3_tf/base_scan:
194 | {}
195 | robot3_tf/caster_back_link:
196 | {}
197 | robot3_tf/imu_link:
198 | {}
199 | robot3_tf/wheel_left_link:
200 | {}
201 | robot3_tf/wheel_right_link:
202 | {}
203 | Update Interval: 0
204 | Value: true
205 | - Alpha: 0.699999988
206 | Class: rviz/Map
207 | Color Scheme: map
208 | Draw Behind: false
209 | Enabled: true
210 | Name: Map
211 | Topic: /map
212 | Unreliable: false
213 | Use Timestamp: false
214 | Value: true
215 | - Alpha: 1
216 | Class: rviz/RobotModel
217 | Collision Enabled: false
218 | Enabled: true
219 | Links:
220 | All Links Enabled: true
221 | Expand Joint Details: false
222 | Expand Link Details: false
223 | Expand Tree: false
224 | Link Tree Style: ""
225 | base_footprint:
226 | Alpha: 1
227 | Show Axes: false
228 | Show Trail: false
229 | base_link:
230 | Alpha: 1
231 | Show Axes: false
232 | Show Trail: false
233 | Value: true
234 | base_scan:
235 | Alpha: 1
236 | Show Axes: false
237 | Show Trail: false
238 | Value: true
239 | caster_back_link:
240 | Alpha: 1
241 | Show Axes: false
242 | Show Trail: false
243 | Value: true
244 | imu_link:
245 | Alpha: 1
246 | Show Axes: false
247 | Show Trail: false
248 | wheel_left_link:
249 | Alpha: 1
250 | Show Axes: false
251 | Show Trail: false
252 | Value: true
253 | wheel_right_link:
254 | Alpha: 1
255 | Show Axes: false
256 | Show Trail: false
257 | Value: true
258 | Name: RobotModel
259 | Robot Description: robot_description
260 | TF Prefix: robot2_tf
261 | Update Interval: 0
262 | Value: true
263 | Visual Enabled: true
264 | - Alpha: 1
265 | Class: rviz/RobotModel
266 | Collision Enabled: false
267 | Enabled: true
268 | Links:
269 | All Links Enabled: true
270 | Expand Joint Details: false
271 | Expand Link Details: false
272 | Expand Tree: false
273 | Link Tree Style: ""
274 | base_footprint:
275 | Alpha: 1
276 | Show Axes: false
277 | Show Trail: false
278 | base_link:
279 | Alpha: 1
280 | Show Axes: false
281 | Show Trail: false
282 | Value: true
283 | base_scan:
284 | Alpha: 1
285 | Show Axes: false
286 | Show Trail: false
287 | Value: true
288 | caster_back_link:
289 | Alpha: 1
290 | Show Axes: false
291 | Show Trail: false
292 | Value: true
293 | imu_link:
294 | Alpha: 1
295 | Show Axes: false
296 | Show Trail: false
297 | wheel_left_link:
298 | Alpha: 1
299 | Show Axes: false
300 | Show Trail: false
301 | Value: true
302 | wheel_right_link:
303 | Alpha: 1
304 | Show Axes: false
305 | Show Trail: false
306 | Value: true
307 | Name: RobotModel
308 | Robot Description: robot_description
309 | TF Prefix: robot3_tf
310 | Update Interval: 0
311 | Value: true
312 | Visual Enabled: true
313 | - Alpha: 1
314 | Axes Length: 1
315 | Axes Radius: 0.100000001
316 | Class: rviz/PoseWithCovariance
317 | Color: 255; 25; 0
318 | Covariance:
319 | Orientation:
320 | Alpha: 0.5
321 | Color: 255; 255; 127
322 | Color Style: Unique
323 | Frame: Local
324 | Offset: 1
325 | Scale: 1
326 | Value: true
327 | Position:
328 | Alpha: 0.300000012
329 | Color: 204; 51; 204
330 | Scale: 1
331 | Value: true
332 | Value: true
333 | Enabled: false
334 | Head Length: 0.300000012
335 | Head Radius: 0.100000001
336 | Name: PoseWithCovariance
337 | Shaft Length: 1
338 | Shaft Radius: 0.0500000007
339 | Shape: Arrow
340 | Topic: /robot1/amcl_pose
341 | Unreliable: false
342 | Value: false
343 | - Alpha: 1
344 | Axes Length: 1
345 | Axes Radius: 0.100000001
346 | Class: rviz/PoseWithCovariance
347 | Color: 255; 25; 0
348 | Covariance:
349 | Orientation:
350 | Alpha: 0.5
351 | Color: 255; 255; 127
352 | Color Style: Unique
353 | Frame: Local
354 | Offset: 1
355 | Scale: 1
356 | Value: true
357 | Position:
358 | Alpha: 0.300000012
359 | Color: 204; 51; 204
360 | Scale: 1
361 | Value: true
362 | Value: true
363 | Enabled: false
364 | Head Length: 0.300000012
365 | Head Radius: 0.100000001
366 | Name: PoseWithCovariance
367 | Shaft Length: 1
368 | Shaft Radius: 0.0500000007
369 | Shape: Arrow
370 | Topic: /robot2/amcl_pose
371 | Unreliable: false
372 | Value: false
373 | - Alpha: 1
374 | Axes Length: 1
375 | Axes Radius: 0.100000001
376 | Class: rviz/PoseWithCovariance
377 | Color: 255; 25; 0
378 | Covariance:
379 | Orientation:
380 | Alpha: 0.5
381 | Color: 255; 255; 127
382 | Color Style: Unique
383 | Frame: Local
384 | Offset: 1
385 | Scale: 1
386 | Value: true
387 | Position:
388 | Alpha: 0.300000012
389 | Color: 204; 51; 204
390 | Scale: 1
391 | Value: true
392 | Value: true
393 | Enabled: false
394 | Head Length: 0.300000012
395 | Head Radius: 0.100000001
396 | Name: PoseWithCovariance
397 | Shaft Length: 1
398 | Shaft Radius: 0.0500000007
399 | Shape: Arrow
400 | Topic: /robot3/amcl_pose
401 | Unreliable: false
402 | Value: false
403 | - Alpha: 1
404 | Arrow Length: 0.300000012
405 | Axes Length: 0.300000012
406 | Axes Radius: 0.00999999978
407 | Class: rviz/PoseArray
408 | Color: 255; 25; 0
409 | Enabled: true
410 | Head Length: 0.0700000003
411 | Head Radius: 0.0299999993
412 | Name: PoseArray
413 | Shaft Length: 0.230000004
414 | Shaft Radius: 0.00999999978
415 | Shape: Arrow (Flat)
416 | Topic: /robot3/particlecloud
417 | Unreliable: false
418 | Value: true
419 | - Alpha: 1
420 | Arrow Length: 0.300000012
421 | Axes Length: 0.300000012
422 | Axes Radius: 0.00999999978
423 | Class: rviz/PoseArray
424 | Color: 255; 25; 0
425 | Enabled: true
426 | Head Length: 0.0700000003
427 | Head Radius: 0.0299999993
428 | Name: PoseArray
429 | Shaft Length: 0.230000004
430 | Shaft Radius: 0.00999999978
431 | Shape: Arrow (Flat)
432 | Topic: /robot2/particlecloud
433 | Unreliable: false
434 | Value: true
435 | - Alpha: 1
436 | Arrow Length: 0.300000012
437 | Axes Length: 0.300000012
438 | Axes Radius: 0.00999999978
439 | Class: rviz/PoseArray
440 | Color: 255; 25; 0
441 | Enabled: true
442 | Head Length: 0.0700000003
443 | Head Radius: 0.0299999993
444 | Name: PoseArray
445 | Shaft Length: 0.230000004
446 | Shaft Radius: 0.00999999978
447 | Shape: Arrow (Flat)
448 | Topic: /robot1/particlecloud
449 | Unreliable: false
450 | Value: true
451 | - Alpha: 1
452 | Class: rviz/Polygon
453 | Color: 25; 255; 0
454 | Enabled: false
455 | Name: Polygon
456 | Topic: /robot1/move_base/global_costmap/footprint
457 | Unreliable: false
458 | Value: false
459 | - Alpha: 1
460 | Class: rviz/Polygon
461 | Color: 25; 255; 0
462 | Enabled: false
463 | Name: Polygon
464 | Topic: /move_base2/global_costmap/footprint
465 | Unreliable: false
466 | Value: false
467 | - Alpha: 0.699999988
468 | Class: rviz/Map
469 | Color Scheme: map
470 | Draw Behind: false
471 | Enabled: true
472 | Name: Map
473 | Topic: /robot1/move_base/local_costmap/costmap
474 | Unreliable: false
475 | Use Timestamp: false
476 | Value: true
477 | - Alpha: 0.699999988
478 | Class: rviz/Map
479 | Color Scheme: map
480 | Draw Behind: false
481 | Enabled: true
482 | Name: Map
483 | Topic: /move_base2/local_costmap/costmap
484 | Unreliable: false
485 | Use Timestamp: false
486 | Value: true
487 | - Alpha: 0.699999988
488 | Class: rviz/Map
489 | Color Scheme: map
490 | Draw Behind: false
491 | Enabled: true
492 | Name: Map
493 | Topic: /move_base3/local_costmap/costmap
494 | Unreliable: false
495 | Use Timestamp: false
496 | Value: true
497 | - Alpha: 0.699999988
498 | Class: rviz/Map
499 | Color Scheme: map
500 | Draw Behind: true
501 | Enabled: true
502 | Name: Map
503 | Topic: /robot1/move_base/global_costmap/costmap
504 | Unreliable: false
505 | Use Timestamp: false
506 | Value: true
507 | - Alpha: 0.699999988
508 | Class: rviz/Map
509 | Color Scheme: map
510 | Draw Behind: true
511 | Enabled: true
512 | Name: Map
513 | Topic: /move_base2/global_costmap/costmap
514 | Unreliable: false
515 | Use Timestamp: false
516 | Value: true
517 | - Alpha: 0.699999988
518 | Class: rviz/Map
519 | Color Scheme: map
520 | Draw Behind: true
521 | Enabled: true
522 | Name: Map
523 | Topic: /move_base3/global_costmap/costmap
524 | Unreliable: false
525 | Use Timestamp: false
526 | Value: true
527 | Enabled: true
528 | Global Options:
529 | Background Color: 48; 48; 48
530 | Default Light: true
531 | Fixed Frame: map
532 | Frame Rate: 30
533 | Name: root
534 | Tools:
535 | - Class: rviz/Interact
536 | Hide Inactive Objects: true
537 | - Class: rviz/MoveCamera
538 | - Class: rviz/Select
539 | - Class: rviz/FocusCamera
540 | - Class: rviz/Measure
541 | - Class: rviz/SetInitialPose
542 | Topic: /initialpose
543 | - Class: rviz/SetGoal
544 | Topic: /move_base_simple/goal
545 | - Class: rviz/PublishPoint
546 | Single click: true
547 | Topic: /clicked_point
548 | Value: true
549 | Views:
550 | Current:
551 | Class: rviz/Orbit
552 | Distance: 12.3108959
553 | Enable Stereo Rendering:
554 | Stereo Eye Separation: 0.0599999987
555 | Stereo Focal Distance: 1
556 | Swap Stereo Eyes: false
557 | Value: false
558 | Focal Point:
559 | X: 0.0800805166
560 | Y: -0.375302702
561 | Z: 0.0137263061
562 | Focal Shape Fixed Size: true
563 | Focal Shape Size: 0.0500000007
564 | Invert Z Axis: false
565 | Name: Current View
566 | Near Clip Distance: 0.00999999978
567 | Pitch: 0.61979717
568 | Target Frame:
569 | Value: Orbit (rviz)
570 | Yaw: 2.68407249
571 | Saved: ~
572 | Window Geometry:
573 | Displays:
574 | collapsed: false
575 | Height: 846
576 | Hide Left Dock: false
577 | Hide Right Dock: false
578 | QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000022b000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
579 | Selection:
580 | collapsed: false
581 | Time:
582 | collapsed: false
583 | Tool Properties:
584 | collapsed: false
585 | Views:
586 | collapsed: false
587 | Width: 1200
588 | X: 126
589 | Y: 82
590 |
--------------------------------------------------------------------------------
/map_launcher/rviz/turtlebot3_navigation.rviz:
--------------------------------------------------------------------------------
1 | Panels:
2 | - Class: rviz/Displays
3 | Help Height: 78
4 | Name: Displays
5 | Property Tree Widget:
6 | Expanded:
7 | - /Global Options1
8 | - /TF1/Frames1
9 | - /TF1/Tree1
10 | - /Planner Plan1/Status1
11 | - /Local Map1/Costmap1/Status1
12 | - /Local Map1/Planner1/Status1
13 | Splitter Ratio: 0.5
14 | Tree Height: 843
15 | - Class: rviz/Selection
16 | Name: Selection
17 | - Class: rviz/Tool Properties
18 | Expanded:
19 | - /2D Pose Estimate1
20 | - /2D Nav Goal1
21 | Name: Tool Properties
22 | Splitter Ratio: 0.588679016
23 | - Class: rviz/Views
24 | Expanded:
25 | - /Current View1
26 | Name: Views
27 | Splitter Ratio: 0.5
28 | - Class: rviz/Time
29 | Experimental: false
30 | Name: Time
31 | SyncMode: 0
32 | SyncSource: LaserScan
33 | Toolbars:
34 | toolButtonStyle: 2
35 | Visualization Manager:
36 | Class: ""
37 | Displays:
38 | - Alpha: 0.5
39 | Cell Size: 1
40 | Class: rviz/Grid
41 | Color: 160; 160; 164
42 | Enabled: true
43 | Line Style:
44 | Line Width: 0.0299999993
45 | Value: Lines
46 | Name: Grid
47 | Normal Cell Count: 0
48 | Offset:
49 | X: 0
50 | Y: 0
51 | Z: 0
52 | Plane: XY
53 | Plane Cell Count: 20
54 | Reference Frame:
55 | Value: true
56 | - Alpha: 1
57 | Class: rviz/RobotModel
58 | Collision Enabled: false
59 | Enabled: true
60 | Links:
61 | All Links Enabled: true
62 | Expand Joint Details: false
63 | Expand Link Details: false
64 | Expand Tree: false
65 | Link Tree Style: Links in Alphabetic Order
66 | base_footprint:
67 | Alpha: 1
68 | Show Axes: false
69 | Show Trail: false
70 | base_link:
71 | Alpha: 1
72 | Show Axes: false
73 | Show Trail: false
74 | Value: true
75 | base_scan:
76 | Alpha: 1
77 | Show Axes: false
78 | Show Trail: false
79 | Value: true
80 | caster_back_link:
81 | Alpha: 1
82 | Show Axes: false
83 | Show Trail: false
84 | Value: true
85 | imu_link:
86 | Alpha: 1
87 | Show Axes: false
88 | Show Trail: false
89 | wheel_left_link:
90 | Alpha: 1
91 | Show Axes: false
92 | Show Trail: false
93 | Value: true
94 | wheel_right_link:
95 | Alpha: 1
96 | Show Axes: false
97 | Show Trail: false
98 | Value: true
99 | Name: RobotModel
100 | Robot Description: robot_description
101 | TF Prefix: robot1_tf
102 | Update Interval: 0
103 | Value: true
104 | Visual Enabled: true
105 | - Alpha: 1
106 | Class: rviz/RobotModel
107 | Collision Enabled: false
108 | Enabled: true
109 | Links:
110 | All Links Enabled: true
111 | Expand Joint Details: false
112 | Expand Link Details: false
113 | Expand Tree: false
114 | Link Tree Style: Links in Alphabetic Order
115 | base_footprint:
116 | Alpha: 1
117 | Show Axes: false
118 | Show Trail: false
119 | base_link:
120 | Alpha: 1
121 | Show Axes: false
122 | Show Trail: false
123 | Value: true
124 | base_scan:
125 | Alpha: 1
126 | Show Axes: false
127 | Show Trail: false
128 | Value: true
129 | caster_back_link:
130 | Alpha: 1
131 | Show Axes: false
132 | Show Trail: false
133 | Value: true
134 | imu_link:
135 | Alpha: 1
136 | Show Axes: false
137 | Show Trail: false
138 | wheel_left_link:
139 | Alpha: 1
140 | Show Axes: false
141 | Show Trail: false
142 | Value: true
143 | wheel_right_link:
144 | Alpha: 1
145 | Show Axes: false
146 | Show Trail: false
147 | Value: true
148 | Name: RobotModel
149 | Robot Description: robot_description
150 | TF Prefix: robot2_tf
151 | Update Interval: 0
152 | Value: true
153 | Visual Enabled: true
154 | - Alpha: 1
155 | Class: rviz/RobotModel
156 | Collision Enabled: false
157 | Enabled: true
158 | Links:
159 | All Links Enabled: true
160 | Expand Joint Details: false
161 | Expand Link Details: false
162 | Expand Tree: false
163 | Link Tree Style: Links in Alphabetic Order
164 | base_footprint:
165 | Alpha: 1
166 | Show Axes: false
167 | Show Trail: false
168 | base_link:
169 | Alpha: 1
170 | Show Axes: false
171 | Show Trail: false
172 | Value: true
173 | base_scan:
174 | Alpha: 1
175 | Show Axes: false
176 | Show Trail: false
177 | Value: true
178 | caster_back_link:
179 | Alpha: 1
180 | Show Axes: false
181 | Show Trail: false
182 | Value: true
183 | imu_link:
184 | Alpha: 1
185 | Show Axes: false
186 | Show Trail: false
187 | wheel_left_link:
188 | Alpha: 1
189 | Show Axes: false
190 | Show Trail: false
191 | Value: true
192 | wheel_right_link:
193 | Alpha: 1
194 | Show Axes: false
195 | Show Trail: false
196 | Value: true
197 | Name: RobotModel
198 | Robot Description: robot_description
199 | TF Prefix: robot3_tf
200 | Update Interval: 0
201 | Value: true
202 | Visual Enabled: true
203 | - Class: rviz/TF
204 | Enabled: false
205 | Frame Timeout: 15
206 | Frames:
207 | All Enabled: false
208 | Marker Scale: 1
209 | Name: TF
210 | Show Arrows: true
211 | Show Axes: true
212 | Show Names: false
213 | Tree:
214 | {}
215 | Update Interval: 0
216 | Value: false
217 | - Alpha: 1
218 | Autocompute Intensity Bounds: true
219 | Autocompute Value Bounds:
220 | Max Value: 10
221 | Min Value: -10
222 | Value: true
223 | Axis: Z
224 | Channel Name: intensity
225 | Class: rviz/LaserScan
226 | Color: 0; 255; 0
227 | Color Transformer: FlatColor
228 | Decay Time: 0
229 | Enabled: true
230 | Invert Rainbow: false
231 | Max Color: 255; 255; 255
232 | Max Intensity: 13069
233 | Min Color: 0; 0; 0
234 | Min Intensity: 28
235 | Name: LaserScan
236 | Position Transformer: XYZ
237 | Queue Size: 10
238 | Selectable: true
239 | Size (Pixels): 3
240 | Size (m): 0.0300000012
241 | Style: Flat Squares
242 | Topic: /robot1/scan
243 | Unreliable: false
244 | Use Fixed Frame: true
245 | Use rainbow: true
246 | Value: true
247 | - Alpha: 1
248 | Autocompute Intensity Bounds: true
249 | Autocompute Value Bounds:
250 | Max Value: 10
251 | Min Value: -10
252 | Value: true
253 | Axis: Z
254 | Channel Name: intensity
255 | Class: rviz/LaserScan
256 | Color: 0; 255; 0
257 | Color Transformer: FlatColor
258 | Decay Time: 0
259 | Enabled: true
260 | Invert Rainbow: false
261 | Max Color: 255; 255; 255
262 | Max Intensity: 13069
263 | Min Color: 0; 0; 0
264 | Min Intensity: 28
265 | Name: LaserScan
266 | Position Transformer: XYZ
267 | Queue Size: 10
268 | Selectable: true
269 | Size (Pixels): 3
270 | Size (m): 0.0300000012
271 | Style: Flat Squares
272 | Topic: /robot2/scan
273 | Unreliable: false
274 | Use Fixed Frame: true
275 | Use rainbow: true
276 | Value: true
277 | - Alpha: 1
278 | Autocompute Intensity Bounds: true
279 | Autocompute Value Bounds:
280 | Max Value: 10
281 | Min Value: -10
282 | Value: true
283 | Axis: Z
284 | Channel Name: intensity
285 | Class: rviz/LaserScan
286 | Color: 0; 255; 0
287 | Color Transformer: FlatColor
288 | Decay Time: 0
289 | Enabled: true
290 | Invert Rainbow: false
291 | Max Color: 255; 255; 255
292 | Max Intensity: 13069
293 | Min Color: 0; 0; 0
294 | Min Intensity: 28
295 | Name: LaserScan
296 | Position Transformer: XYZ
297 | Queue Size: 10
298 | Selectable: true
299 | Size (Pixels): 3
300 | Size (m): 0.0300000012
301 | Style: Flat Squares
302 | Topic: /robot3/scan
303 | Unreliable: false
304 | Use Fixed Frame: true
305 | Use rainbow: true
306 | Value: true
307 | - Class: rviz/Image
308 | Enabled: false
309 | Image Topic: /raspicam_node/image
310 | Max Value: 1
311 | Median window: 5
312 | Min Value: 0
313 | Name: Image
314 | Normalize Range: true
315 | Queue Size: 2
316 | Transport Hint: compressed
317 | Unreliable: false
318 | Value: false
319 | - Alpha: 0.699999988
320 | Class: rviz/Map
321 | Color Scheme: map
322 | Draw Behind: false
323 | Enabled: true
324 | Name: Map
325 | Topic: /map
326 | Unreliable: false
327 | Use Timestamp: false
328 | Value: true
329 | - Alpha: 1
330 | Buffer Length: 1
331 | Class: rviz/Path
332 | Color: 0; 0; 0
333 | Enabled: true
334 | Head Diameter: 0.300000012
335 | Head Length: 0.200000003
336 | Length: 0.300000012
337 | Line Style: Lines
338 | Line Width: 0.0299999993
339 | Name: Planner Plan
340 | Offset:
341 | X: 0
342 | Y: 0
343 | Z: 0
344 | Pose Color: 255; 85; 255
345 | Pose Style: None
346 | Radius: 0.0299999993
347 | Shaft Diameter: 0.100000001
348 | Shaft Length: 0.100000001
349 | Topic: /move_base/NavfnROS/plan
350 | Unreliable: false
351 | Value: true
352 | - Alpha: 1
353 | Buffer Length: 1
354 | Class: rviz/Path
355 | Color: 0; 0; 0
356 | Enabled: true
357 | Head Diameter: 0.300000012
358 | Head Length: 0.200000003
359 | Length: 0.300000012
360 | Line Style: Lines
361 | Line Width: 0.0299999993
362 | Name: Planner Plan
363 | Offset:
364 | X: 0
365 | Y: 0
366 | Z: 0
367 | Pose Color: 255; 85; 255
368 | Pose Style: None
369 | Radius: 0.0299999993
370 | Shaft Diameter: 0.100000001
371 | Shaft Length: 0.100000001
372 | Topic: /move_base2/NavfnROS/plan
373 | Unreliable: false
374 | Value: true
375 | - Alpha: 1
376 | Buffer Length: 1
377 | Class: rviz/Path
378 | Color: 0; 0; 0
379 | Enabled: true
380 | Head Diameter: 0.300000012
381 | Head Length: 0.200000003
382 | Length: 0.300000012
383 | Line Style: Lines
384 | Line Width: 0.0299999993
385 | Name: Planner Plan
386 | Offset:
387 | X: 0
388 | Y: 0
389 | Z: 0
390 | Pose Color: 255; 85; 255
391 | Pose Style: None
392 | Radius: 0.0299999993
393 | Shaft Diameter: 0.100000001
394 | Shaft Length: 0.100000001
395 | Topic: /move_base3/NavfnROS/plan
396 | Unreliable: false
397 | Value: true
398 | - Class: rviz/Group
399 | Displays:
400 | - Alpha: 0.699999988
401 | Class: rviz/Map
402 | Color Scheme: costmap
403 | Draw Behind: true
404 | Enabled: true
405 | Name: Costmap
406 | Topic: /robot1/move_base/global_costmap/costmap
407 | Unreliable: false
408 | Use Timestamp: false
409 | Value: true
410 | - Alpha: 0.699999988
411 | Class: rviz/Map
412 | Color Scheme: costmap
413 | Draw Behind: true
414 | Enabled: true
415 | Name: Costmap
416 | Topic: /move_base2/global_costmap/costmap
417 | Unreliable: false
418 | Use Timestamp: false
419 | Value: true
420 | - Alpha: 0.699999988
421 | Class: rviz/Map
422 | Color Scheme: costmap
423 | Draw Behind: true
424 | Enabled: true
425 | Name: Costmap
426 | Topic: /move_base3/global_costmap/costmap
427 | Unreliable: false
428 | Use Timestamp: false
429 | Value: true
430 | - Alpha: 1
431 | Buffer Length: 1
432 | Class: rviz/Path
433 | Color: 255; 0; 0
434 | Enabled: true
435 | Head Diameter: 0.300000012
436 | Head Length: 0.200000003
437 | Length: 0.300000012
438 | Line Style: Lines
439 | Line Width: 0.0299999993
440 | Name: Planner
441 | Offset:
442 | X: 0
443 | Y: 0
444 | Z: 0
445 | Pose Color: 255; 85; 255
446 | Pose Style: None
447 | Radius: 0.0299999993
448 | Shaft Diameter: 0.100000001
449 | Shaft Length: 0.100000001
450 | Topic: /move_base/DWAPlannerROS/global_plan
451 | Unreliable: false
452 | Value: true
453 | - Alpha: 1
454 | Buffer Length: 1
455 | Class: rviz/Path
456 | Color: 255; 0; 0
457 | Enabled: true
458 | Head Diameter: 0.300000012
459 | Head Length: 0.200000003
460 | Length: 0.300000012
461 | Line Style: Lines
462 | Line Width: 0.0299999993
463 | Name: Planner
464 | Offset:
465 | X: 0
466 | Y: 0
467 | Z: 0
468 | Pose Color: 255; 85; 255
469 | Pose Style: None
470 | Radius: 0.0299999993
471 | Shaft Diameter: 0.100000001
472 | Shaft Length: 0.100000001
473 | Topic: /move_base2/DWAPlannerROS/global_plan
474 | Unreliable: false
475 | Value: true
476 | - Alpha: 1
477 | Buffer Length: 1
478 | Class: rviz/Path
479 | Color: 255; 0; 0
480 | Enabled: true
481 | Head Diameter: 0.300000012
482 | Head Length: 0.200000003
483 | Length: 0.300000012
484 | Line Style: Lines
485 | Line Width: 0.0299999993
486 | Name: Planner
487 | Offset:
488 | X: 0
489 | Y: 0
490 | Z: 0
491 | Pose Color: 255; 85; 255
492 | Pose Style: None
493 | Radius: 0.0299999993
494 | Shaft Diameter: 0.100000001
495 | Shaft Length: 0.100000001
496 | Topic: /move_base3/DWAPlannerROS/global_plan
497 | Unreliable: false
498 | Value: true
499 | Enabled: true
500 | Name: Global Map
501 | - Class: rviz/Group
502 | Displays:
503 | - Alpha: 1
504 | Class: rviz/Polygon
505 | Color: 0; 0; 0
506 | Enabled: true
507 | Name: Polygon
508 | Topic: /robot1/move_base/local_costmap/footprint
509 | Unreliable: false
510 | Value: true
511 | - Alpha: 1
512 | Class: rviz/Polygon
513 | Color: 0; 0; 0
514 | Enabled: true
515 | Name: Polygon
516 | Topic: /move_base2/local_costmap/footprint
517 | Unreliable: false
518 | Value: true
519 | - Alpha: 1
520 | Class: rviz/Polygon
521 | Color: 0; 0; 0
522 | Enabled: true
523 | Name: Polygon
524 | Topic: /move_base3/local_costmap/footprint
525 | Unreliable: false
526 | Value: true
527 | - Alpha: 0.699999988
528 | Class: rviz/Map
529 | Color Scheme: costmap
530 | Draw Behind: false
531 | Enabled: true
532 | Name: Costmap
533 | Topic: /robot1/move_base/local_costmap/costmap
534 | Unreliable: false
535 | Use Timestamp: false
536 | Value: true
537 | - Alpha: 0.699999988
538 | Class: rviz/Map
539 | Color Scheme: costmap
540 | Draw Behind: false
541 | Enabled: true
542 | Name: Costmap
543 | Topic: /move_base2/local_costmap/costmap
544 | Unreliable: false
545 | Use Timestamp: false
546 | Value: true
547 | - Alpha: 0.699999988
548 | Class: rviz/Map
549 | Color Scheme: costmap
550 | Draw Behind: false
551 | Enabled: true
552 | Name: Costmap
553 | Topic: /move_base3/local_costmap/costmap
554 | Unreliable: false
555 | Use Timestamp: false
556 | Value: true
557 | - Alpha: 1
558 | Buffer Length: 1
559 | Class: rviz/Path
560 | Color: 255; 255; 0
561 | Enabled: true
562 | Head Diameter: 0.300000012
563 | Head Length: 0.200000003
564 | Length: 0.300000012
565 | Line Style: Lines
566 | Line Width: 0.0299999993
567 | Name: Planner
568 | Offset:
569 | X: 0
570 | Y: 0
571 | Z: 0
572 | Pose Color: 255; 85; 255
573 | Pose Style: None
574 | Radius: 0.0299999993
575 | Shaft Diameter: 0.100000001
576 | Shaft Length: 0.100000001
577 | Topic: /move_base/DWAPlannerROS/local_plan
578 | Unreliable: false
579 | Value: true
580 | - Alpha: 1
581 | Buffer Length: 1
582 | Class: rviz/Path
583 | Color: 255; 255; 0
584 | Enabled: true
585 | Head Diameter: 0.300000012
586 | Head Length: 0.200000003
587 | Length: 0.300000012
588 | Line Style: Lines
589 | Line Width: 0.0299999993
590 | Name: Planner
591 | Offset:
592 | X: 0
593 | Y: 0
594 | Z: 0
595 | Pose Color: 255; 85; 255
596 | Pose Style: None
597 | Radius: 0.0299999993
598 | Shaft Diameter: 0.100000001
599 | Shaft Length: 0.100000001
600 | Topic: /move_base2/DWAPlannerROS/local_plan
601 | Unreliable: false
602 | Value: true
603 | - Alpha: 1
604 | Buffer Length: 1
605 | Class: rviz/Path
606 | Color: 255; 255; 0
607 | Enabled: true
608 | Head Diameter: 0.300000012
609 | Head Length: 0.200000003
610 | Length: 0.300000012
611 | Line Style: Lines
612 | Line Width: 0.0299999993
613 | Name: Planner
614 | Offset:
615 | X: 0
616 | Y: 0
617 | Z: 0
618 | Pose Color: 255; 85; 255
619 | Pose Style: None
620 | Radius: 0.0299999993
621 | Shaft Diameter: 0.100000001
622 | Shaft Length: 0.100000001
623 | Topic: /move_base3/DWAPlannerROS/local_plan
624 | Unreliable: false
625 | Value: true
626 | Enabled: true
627 | Name: Local Map
628 | - Alpha: 1
629 | Arrow Length: 0.0500000007
630 | Axes Length: 0.300000012
631 | Axes Radius: 0.00999999978
632 | Class: rviz/PoseArray
633 | Color: 0; 192; 0
634 | Enabled: true
635 | Head Length: 0.0700000003
636 | Head Radius: 0.0299999993
637 | Name: Amcl Particles
638 | Shaft Length: 0.230000004
639 | Shaft Radius: 0.00999999978
640 | Shape: Arrow (Flat)
641 | Topic: /robot1/particlecloud
642 | Unreliable: false
643 | Value: true
644 | - Alpha: 1
645 | Arrow Length: 0.0500000007
646 | Axes Length: 0.300000012
647 | Axes Radius: 0.00999999978
648 | Class: rviz/PoseArray
649 | Color: 0; 192; 0
650 | Enabled: true
651 | Head Length: 0.0700000003
652 | Head Radius: 0.0299999993
653 | Name: Amcl Particles
654 | Shaft Length: 0.230000004
655 | Shaft Radius: 0.00999999978
656 | Shape: Arrow (Flat)
657 | Topic: /robot2/particlecloud
658 | Unreliable: false
659 | Value: true
660 | - Alpha: 1
661 | Arrow Length: 0.0500000007
662 | Axes Length: 0.300000012
663 | Axes Radius: 0.00999999978
664 | Class: rviz/PoseArray
665 | Color: 0; 192; 0
666 | Enabled: true
667 | Head Length: 0.0700000003
668 | Head Radius: 0.0299999993
669 | Name: Amcl Particles
670 | Shaft Length: 0.230000004
671 | Shaft Radius: 0.00999999978
672 | Shape: Arrow (Flat)
673 | Topic: /robot3/particlecloud
674 | Unreliable: false
675 | Value: true
676 | - Alpha: 1
677 | Axes Length: 1
678 | Axes Radius: 0.100000001
679 | Class: rviz/Pose
680 | Color: 255; 25; 0
681 | Enabled: true
682 | Head Length: 0.300000012
683 | Head Radius: 0.100000001
684 | Name: Goal
685 | Shaft Length: 0.5
686 | Shaft Radius: 0.0500000007
687 | Shape: Arrow
688 | Topic: /robot1/move_base/current_goal
689 | Unreliable: false
690 | Value: true
691 | - Alpha: 1
692 | Axes Length: 1
693 | Axes Radius: 0.100000001
694 | Class: rviz/Pose
695 | Color: 255; 25; 0
696 | Enabled: true
697 | Head Length: 0.300000012
698 | Head Radius: 0.100000001
699 | Name: Goal
700 | Shaft Length: 0.5
701 | Shaft Radius: 0.0500000007
702 | Shape: Arrow
703 | Topic: /move_base2/current_goal
704 | Unreliable: false
705 | Value: true
706 | - Alpha: 1
707 | Axes Length: 1
708 | Axes Radius: 0.100000001
709 | Class: rviz/Pose
710 | Color: 255; 25; 0
711 | Enabled: true
712 | Head Length: 0.300000012
713 | Head Radius: 0.100000001
714 | Name: Goal
715 | Shaft Length: 0.5
716 | Shaft Radius: 0.0500000007
717 | Shape: Arrow
718 | Topic: /move_base3/current_goal
719 | Unreliable: false
720 | Value: true
721 | Enabled: true
722 | Global Options:
723 | Background Color: 48; 48; 48
724 | Default Light: true
725 | Fixed Frame: map
726 | Frame Rate: 30
727 | Name: root
728 | Tools:
729 | - Class: rviz/MoveCamera
730 | - Class: rviz/Interact
731 | Hide Inactive Objects: true
732 | - Class: rviz/Select
733 | - Class: rviz/SetInitialPose
734 | Topic: /initialpose
735 | - Class: rviz/SetGoal
736 | Topic: /move_base_simple/goal
737 | - Class: rviz/Measure
738 | Value: true
739 | Views:
740 | Current:
741 | Angle: -1.57079637
742 | Class: rviz/TopDownOrtho
743 | Enable Stereo Rendering:
744 | Stereo Eye Separation: 0.0599999987
745 | Stereo Focal Distance: 1
746 | Swap Stereo Eyes: false
747 | Value: false
748 | Invert Z Axis: false
749 | Name: Current View
750 | Near Clip Distance: 0.00999999978
751 | Scale: 85.252594
752 | Target Frame:
753 | Value: TopDownOrtho (rviz)
754 | X: 0
755 | Y: 0
756 | Saved: ~
757 | Window Geometry:
758 | Displays:
759 | collapsed: false
760 | Height: 1056
761 | Hide Left Dock: false
762 | Hide Right Dock: true
763 | Image:
764 | collapsed: false
765 | QMainWindow State: 000000ff00000000fd00000004000000000000016a000003dafc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000003da000000d700fffffffb0000000a0049006d0061006700650000000317000000cc0000001600fffffffb0000000a0049006d0061006700650000000330000000ce0000000000000000000000010000010f000003a0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000043000003a0000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005c7000003da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
766 | Selection:
767 | collapsed: false
768 | Time:
769 | collapsed: false
770 | Tool Properties:
771 | collapsed: false
772 | Views:
773 | collapsed: true
774 | Width: 1847
775 | X: 73
776 | Y: 24
777 |
--------------------------------------------------------------------------------
/multi_turtlebots_nav/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 2.8.3)
2 | project(multi_turtlebots_nav)
3 |
4 | ## Compile as C++11, supported in ROS Kinetic and newer
5 | # add_compile_options(-std=c++11)
6 |
7 | ## Find catkin macros and libraries
8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
9 | ## is used, also find other catkin packages
10 | find_package(catkin REQUIRED COMPONENTS
11 | rospy
12 | )
13 |
14 | ## System dependencies are found with CMake's conventions
15 | # find_package(Boost REQUIRED COMPONENTS system)
16 |
17 |
18 | ## Uncomment this if the package has a setup.py. This macro ensures
19 | ## modules and global scripts declared therein get installed
20 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
21 | # catkin_python_setup()
22 |
23 | ################################################
24 | ## Declare ROS messages, services and actions ##
25 | ################################################
26 |
27 | ## To declare and build messages, services or actions from within this
28 | ## package, follow these steps:
29 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
30 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
31 | ## * In the file package.xml:
32 | ## * add a build_depend tag for "message_generation"
33 | ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
34 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
35 | ## but can be declared for certainty nonetheless:
36 | ## * add a exec_depend tag for "message_runtime"
37 | ## * In this file (CMakeLists.txt):
38 | ## * add "message_generation" and every package in MSG_DEP_SET to
39 | ## find_package(catkin REQUIRED COMPONENTS ...)
40 | ## * add "message_runtime" and every package in MSG_DEP_SET to
41 | ## catkin_package(CATKIN_DEPENDS ...)
42 | ## * uncomment the add_*_files sections below as needed
43 | ## and list every .msg/.srv/.action file to be processed
44 | ## * uncomment the generate_messages entry below
45 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
46 |
47 | ## Generate messages in the 'msg' folder
48 | # add_message_files(
49 | # FILES
50 | # Message1.msg
51 | # Message2.msg
52 | # )
53 |
54 | ## Generate services in the 'srv' folder
55 | # add_service_files(
56 | # FILES
57 | # Service1.srv
58 | # Service2.srv
59 | # )
60 |
61 | ## Generate actions in the 'action' folder
62 | # add_action_files(
63 | # FILES
64 | # Action1.action
65 | # Action2.action
66 | # )
67 |
68 | ## Generate added messages and services with any dependencies listed here
69 | # generate_messages(
70 | # DEPENDENCIES
71 | # std_msgs # Or other packages containing msgs
72 | # )
73 |
74 | ################################################
75 | ## Declare ROS dynamic reconfigure parameters ##
76 | ################################################
77 |
78 | ## To declare and build dynamic reconfigure parameters within this
79 | ## package, follow these steps:
80 | ## * In the file package.xml:
81 | ## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
82 | ## * In this file (CMakeLists.txt):
83 | ## * add "dynamic_reconfigure" to
84 | ## find_package(catkin REQUIRED COMPONENTS ...)
85 | ## * uncomment the "generate_dynamic_reconfigure_options" section below
86 | ## and list every .cfg file to be processed
87 |
88 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
89 | # generate_dynamic_reconfigure_options(
90 | # cfg/DynReconf1.cfg
91 | # cfg/DynReconf2.cfg
92 | # )
93 |
94 | ###################################
95 | ## catkin specific configuration ##
96 | ###################################
97 | ## The catkin_package macro generates cmake config files for your package
98 | ## Declare things to be passed to dependent projects
99 | ## INCLUDE_DIRS: uncomment this if your package contains header files
100 | ## LIBRARIES: libraries you create in this project that dependent projects also need
101 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
102 | ## DEPENDS: system dependencies of this project that dependent projects also need
103 | catkin_package(
104 | # INCLUDE_DIRS include
105 | # LIBRARIES multi_turtlebots_nav
106 | # CATKIN_DEPENDS rospy
107 | # DEPENDS system_lib
108 | )
109 |
110 | ###########
111 | ## Build ##
112 | ###########
113 |
114 | ## Specify additional locations of header files
115 | ## Your package locations should be listed before other locations
116 | include_directories(
117 | # include
118 | ${catkin_INCLUDE_DIRS}
119 | )
120 |
121 | ## Declare a C++ library
122 | # add_library(${PROJECT_NAME}
123 | # src/${PROJECT_NAME}/multi_turtlebots_nav.cpp
124 | # )
125 |
126 | ## Add cmake target dependencies of the library
127 | ## as an example, code may need to be generated before libraries
128 | ## either from message generation or dynamic reconfigure
129 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
130 |
131 | ## Declare a C++ executable
132 | ## With catkin_make all packages are built within a single CMake context
133 | ## The recommended prefix ensures that target names across packages don't collide
134 | # add_executable(${PROJECT_NAME}_node src/multi_turtlebots_nav_node.cpp)
135 |
136 | ## Rename C++ executable without prefix
137 | ## The above recommended prefix causes long target names, the following renames the
138 | ## target back to the shorter version for ease of user use
139 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
140 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
141 |
142 | ## Add cmake target dependencies of the executable
143 | ## same as for the library above
144 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
145 |
146 | ## Specify libraries to link a library or executable target against
147 | # target_link_libraries(${PROJECT_NAME}_node
148 | # ${catkin_LIBRARIES}
149 | # )
150 |
151 | #############
152 | ## Install ##
153 | #############
154 |
155 | # all install targets should use catkin DESTINATION variables
156 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
157 |
158 | ## Mark executable scripts (Python etc.) for installation
159 | ## in contrast to setup.py, you can choose the destination
160 | # install(PROGRAMS
161 | # scripts/my_python_script
162 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
163 | # )
164 |
165 | ## Mark executables for installation
166 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
167 | # install(TARGETS ${PROJECT_NAME}_node
168 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
169 | # )
170 |
171 | ## Mark libraries for installation
172 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
173 | # install(TARGETS ${PROJECT_NAME}
174 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
175 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
176 | # RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
177 | # )
178 |
179 | ## Mark cpp header files for installation
180 | # install(DIRECTORY include/${PROJECT_NAME}/
181 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
182 | # FILES_MATCHING PATTERN "*.h"
183 | # PATTERN ".svn" EXCLUDE
184 | # )
185 |
186 | ## Mark other files for installation (e.g. launch and bag files, etc.)
187 | # install(FILES
188 | # # myfile1
189 | # # myfile2
190 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
191 | # )
192 |
193 | #############
194 | ## Testing ##
195 | #############
196 |
197 | ## Add gtest based cpp test target and link libraries
198 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_multi_turtlebots_nav.cpp)
199 | # if(TARGET ${PROJECT_NAME}-test)
200 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
201 | # endif()
202 |
203 | ## Add folders to be run by python nosetests
204 | # catkin_add_nosetests(test)
205 |
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/multi_turtlebots_nav/launch/amcl_robot1.launch:
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/multi_turtlebots_nav/launch/amcl_robot2.launch:
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/multi_turtlebots_nav/launch/amcl_robot3.launch:
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/multi_turtlebots_nav/launch/move_base_1.launch:
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/multi_turtlebots_nav/launch/move_base_2.launch:
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/multi_turtlebots_nav/launch/move_base_3.launch:
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/multi_turtlebots_nav/launch/navigation.launch:
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/multi_turtlebots_nav/package.xml:
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2 |
3 | multi_turtlebots_nav
4 | 0.0.0
5 | The multi_turtlebots_nav package
6 |
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10 | pallav
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16 | TODO
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51 | catkin
52 | rospy
53 | rospy
54 | rospy
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/multi_turtlebots_nav/param/base_local_planner_params.yaml:
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1 | TrajectoryPlannerROS:
2 |
3 | # Robot Configuration Parameters
4 | max_vel_x: 0.18
5 | min_vel_x: 0.08
6 |
7 | max_vel_theta: 1.0
8 | min_vel_theta: -1.0
9 | min_in_place_vel_theta: 1.0
10 |
11 | acc_lim_x: 1.0
12 | acc_lim_y: 0.0
13 | acc_lim_theta: 0.6
14 |
15 | # Goal Tolerance Parameters
16 | xy_goal_tolerance: 0.10
17 | yaw_goal_tolerance: 0.05
18 |
19 | # Differential-drive robot configuration
20 | holonomic_robot: false
21 |
22 | # Forward Simulation Parameters
23 | sim_time: 0.8
24 | vx_samples: 18
25 | vtheta_samples: 20
26 | sim_granularity: 0.05
27 |
--------------------------------------------------------------------------------
/multi_turtlebots_nav/param/costmap_common_params.yaml:
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1 | obstacle_range: 3.0
2 | raytrace_range: 3.5
3 |
4 | footprint: [[-0.105, -0.105], [-0.105, 0.105], [0.041, 0.105], [0.041, -0.105]]
5 | #robot_radius: 0.105
6 |
7 | inflation_radius: 0.55
8 | cost_scaling_factor: 10.0
9 |
10 | map_type: costmap
11 | observation_sources: scan
12 | scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}
--------------------------------------------------------------------------------
/multi_turtlebots_nav/param/dwa_local_planner_params.yaml:
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1 | DWAPlannerROS:
2 |
3 | # Robot Configuration Parameters
4 | max_vel_x: 0.22
5 | min_vel_x: -0.22
6 |
7 | max_vel_y: 0.0
8 | min_vel_y: 0.0
9 |
10 | # The velocity when robot is moving in a straight line
11 | max_trans_vel: 0.22
12 | min_trans_vel: 0.11
13 |
14 | max_rot_vel: 2.75
15 | min_rot_vel: 1.37
16 |
17 | acc_lim_x: 2.5
18 | acc_lim_y: 0.0
19 | acc_lim_theta: 3.2
20 |
21 | # Goal Tolerance Parametes
22 | xy_goal_tolerance: 0.05
23 | yaw_goal_tolerance: 0.17
24 | latch_xy_goal_tolerance: false
25 |
26 | # Forward Simulation Parameters
27 | sim_time: 1.5
28 | vx_samples: 20
29 | vy_samples: 0
30 | vth_samples: 40
31 | controller_frequency: 10.0
32 |
33 | # Trajectory Scoring Parameters
34 | path_distance_bias: 32.0
35 | goal_distance_bias: 20.0
36 | occdist_scale: 0.02
37 | forward_point_distance: 0.325
38 | stop_time_buffer: 0.2
39 | scaling_speed: 0.25
40 | max_scaling_factor: 0.2
41 |
42 | # Oscillation Prevention Parameters
43 | oscillation_reset_dist: 0.05
44 |
45 | # Debugging
46 | publish_traj_pc : true
47 | publish_cost_grid_pc: true
48 |
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/multi_turtlebots_nav/param/global_costmap_params.yaml:
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1 | global_costmap:
2 | global_frame: map
3 | robot_base_frame: base_footprint
4 |
5 | update_frequency: 10.0
6 | publish_frequency: 10.0
7 | transform_tolerance: 0.5
8 |
9 | static_map: true
10 |
11 |
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/multi_turtlebots_nav/param/local_costmap_params.yaml:
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1 | local_costmap:
2 | global_frame: odom
3 | robot_base_frame: base_footprint
4 |
5 | update_frequency: 10.0
6 | publish_frequency: 10.0
7 | transform_tolerance: 0.5
8 |
9 | static_map: false
10 | rolling_window: true
11 | width: 3
12 | height: 3
13 | resolution: 0.05
14 |
15 |
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/multi_turtlebots_nav/param/move_base_params.yaml:
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1 | shutdown_costmaps: false
2 | controller_frequency: 10.0
3 | planner_patience: 5.0
4 | controller_patience: 15.0
5 | conservative_reset_dist: 3.0
6 | planner_frequency: 5.0
7 | oscillation_timeout: 10.0
8 | oscillation_distance: 0.2
9 |
10 |
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/multi_turtlebots_sim/CMakeLists.txt:
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1 | cmake_minimum_required(VERSION 2.8.3)
2 | project(multi_turtlebots_sim)
3 |
4 | ## Compile as C++11, supported in ROS Kinetic and newer
5 | # add_compile_options(-std=c++11)
6 |
7 | ## Find catkin macros and libraries
8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
9 | ## is used, also find other catkin packages
10 | find_package(catkin REQUIRED COMPONENTS
11 | rospy
12 | )
13 |
14 | ## System dependencies are found with CMake's conventions
15 | # find_package(Boost REQUIRED COMPONENTS system)
16 |
17 |
18 | ## Uncomment this if the package has a setup.py. This macro ensures
19 | ## modules and global scripts declared therein get installed
20 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
21 | # catkin_python_setup()
22 |
23 | ################################################
24 | ## Declare ROS messages, services and actions ##
25 | ################################################
26 |
27 | ## To declare and build messages, services or actions from within this
28 | ## package, follow these steps:
29 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
30 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
31 | ## * In the file package.xml:
32 | ## * add a build_depend tag for "message_generation"
33 | ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
34 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
35 | ## but can be declared for certainty nonetheless:
36 | ## * add a exec_depend tag for "message_runtime"
37 | ## * In this file (CMakeLists.txt):
38 | ## * add "message_generation" and every package in MSG_DEP_SET to
39 | ## find_package(catkin REQUIRED COMPONENTS ...)
40 | ## * add "message_runtime" and every package in MSG_DEP_SET to
41 | ## catkin_package(CATKIN_DEPENDS ...)
42 | ## * uncomment the add_*_files sections below as needed
43 | ## and list every .msg/.srv/.action file to be processed
44 | ## * uncomment the generate_messages entry below
45 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
46 |
47 | ## Generate messages in the 'msg' folder
48 | # add_message_files(
49 | # FILES
50 | # Message1.msg
51 | # Message2.msg
52 | # )
53 |
54 | ## Generate services in the 'srv' folder
55 | # add_service_files(
56 | # FILES
57 | # Service1.srv
58 | # Service2.srv
59 | # )
60 |
61 | ## Generate actions in the 'action' folder
62 | # add_action_files(
63 | # FILES
64 | # Action1.action
65 | # Action2.action
66 | # )
67 |
68 | ## Generate added messages and services with any dependencies listed here
69 | # generate_messages(
70 | # DEPENDENCIES
71 | # std_msgs # Or other packages containing msgs
72 | # )
73 |
74 | ################################################
75 | ## Declare ROS dynamic reconfigure parameters ##
76 | ################################################
77 |
78 | ## To declare and build dynamic reconfigure parameters within this
79 | ## package, follow these steps:
80 | ## * In the file package.xml:
81 | ## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
82 | ## * In this file (CMakeLists.txt):
83 | ## * add "dynamic_reconfigure" to
84 | ## find_package(catkin REQUIRED COMPONENTS ...)
85 | ## * uncomment the "generate_dynamic_reconfigure_options" section below
86 | ## and list every .cfg file to be processed
87 |
88 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
89 | # generate_dynamic_reconfigure_options(
90 | # cfg/DynReconf1.cfg
91 | # cfg/DynReconf2.cfg
92 | # )
93 |
94 | ###################################
95 | ## catkin specific configuration ##
96 | ###################################
97 | ## The catkin_package macro generates cmake config files for your package
98 | ## Declare things to be passed to dependent projects
99 | ## INCLUDE_DIRS: uncomment this if your package contains header files
100 | ## LIBRARIES: libraries you create in this project that dependent projects also need
101 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
102 | ## DEPENDS: system dependencies of this project that dependent projects also need
103 | catkin_package(
104 | # INCLUDE_DIRS include
105 | # LIBRARIES multi_turtlebots_sim
106 | # CATKIN_DEPENDS rospy
107 | # DEPENDS system_lib
108 | )
109 |
110 | ###########
111 | ## Build ##
112 | ###########
113 |
114 | ## Specify additional locations of header files
115 | ## Your package locations should be listed before other locations
116 | include_directories(
117 | # include
118 | ${catkin_INCLUDE_DIRS}
119 | )
120 |
121 | ## Declare a C++ library
122 | # add_library(${PROJECT_NAME}
123 | # src/${PROJECT_NAME}/multi_turtlebots_sim.cpp
124 | # )
125 |
126 | ## Add cmake target dependencies of the library
127 | ## as an example, code may need to be generated before libraries
128 | ## either from message generation or dynamic reconfigure
129 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
130 |
131 | ## Declare a C++ executable
132 | ## With catkin_make all packages are built within a single CMake context
133 | ## The recommended prefix ensures that target names across packages don't collide
134 | # add_executable(${PROJECT_NAME}_node src/multi_turtlebots_sim_node.cpp)
135 |
136 | ## Rename C++ executable without prefix
137 | ## The above recommended prefix causes long target names, the following renames the
138 | ## target back to the shorter version for ease of user use
139 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
140 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
141 |
142 | ## Add cmake target dependencies of the executable
143 | ## same as for the library above
144 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
145 |
146 | ## Specify libraries to link a library or executable target against
147 | # target_link_libraries(${PROJECT_NAME}_node
148 | # ${catkin_LIBRARIES}
149 | # )
150 |
151 | #############
152 | ## Install ##
153 | #############
154 |
155 | # all install targets should use catkin DESTINATION variables
156 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
157 |
158 | ## Mark executable scripts (Python etc.) for installation
159 | ## in contrast to setup.py, you can choose the destination
160 | # install(PROGRAMS
161 | # scripts/my_python_script
162 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
163 | # )
164 |
165 | ## Mark executables for installation
166 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
167 | # install(TARGETS ${PROJECT_NAME}_node
168 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
169 | # )
170 |
171 | ## Mark libraries for installation
172 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
173 | # install(TARGETS ${PROJECT_NAME}
174 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
175 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
176 | # RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
177 | # )
178 |
179 | ## Mark cpp header files for installation
180 | # install(DIRECTORY include/${PROJECT_NAME}/
181 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
182 | # FILES_MATCHING PATTERN "*.h"
183 | # PATTERN ".svn" EXCLUDE
184 | # )
185 |
186 | ## Mark other files for installation (e.g. launch and bag files, etc.)
187 | # install(FILES
188 | # # myfile1
189 | # # myfile2
190 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
191 | # )
192 |
193 | #############
194 | ## Testing ##
195 | #############
196 |
197 | ## Add gtest based cpp test target and link libraries
198 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_multi_turtlebots_sim.cpp)
199 | # if(TARGET ${PROJECT_NAME}-test)
200 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
201 | # endif()
202 |
203 | ## Add folders to be run by python nosetests
204 | # catkin_add_nosetests(test)
205 |
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/multi_turtlebots_sim/package.xml:
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2 |
3 | multi_turtlebots_sim
4 | 0.0.0
5 | The multi_turtlebots_sim package
6 |
7 |
8 |
9 |
10 | pallav
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16 | TODO
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51 | catkin
52 | rospy
53 | xacro
54 | rospy
55 | xacro
56 | rospy
57 | xacro
58 |
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/multi_turtlebots_sim/turtlebot3_description/meshes/bases/burger_base.stl:
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/multi_turtlebots_sim/turtlebot3_description/meshes/sensors/astra.jpg:
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/multi_turtlebots_sim/turtlebot3_description/meshes/sensors/lds.stl:
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/multi_turtlebots_sim/turtlebot3_description/meshes/sensors/r200.jpg:
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/multi_turtlebots_sim/turtlebot3_description/meshes/wheels/left_tire.stl:
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/multi_turtlebots_sim/turtlebot3_description/meshes/wheels/right_tire.stl:
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/multi_turtlebots_sim/turtlebot3_description/rviz/model.rviz:
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1 | Panels:
2 | - Class: rviz/Displays
3 | Help Height: 78
4 | Name: Displays
5 | Property Tree Widget:
6 | Expanded:
7 | - /Global Options1
8 | - /Status1
9 | - /Grid1
10 | - /Axes1
11 | - /LaserScan1
12 | - /RobotModel1
13 | - /TF1
14 | Splitter Ratio: 0.6029411554336548
15 | Tree Height: 787
16 | - Class: rviz/Selection
17 | Name: Selection
18 | - Class: rviz/Tool Properties
19 | Expanded:
20 | - /2D Pose Estimate1
21 | - /2D Nav Goal1
22 | - /Publish Point1
23 | Name: Tool Properties
24 | Splitter Ratio: 0.5886790156364441
25 | - Class: rviz/Views
26 | Expanded:
27 | - /Current View1
28 | Name: Views
29 | Splitter Ratio: 0.5
30 | - Class: rviz/Time
31 | Experimental: false
32 | Name: Time
33 | SyncMode: 0
34 | SyncSource: LaserScan
35 | Visualization Manager:
36 | Class: ""
37 | Displays:
38 | - Alpha: 0.5
39 | Cell Size: 1
40 | Class: rviz/Grid
41 | Color: 160; 160; 164
42 | Enabled: true
43 | Line Style:
44 | Line Width: 0.029999999329447746
45 | Value: Lines
46 | Name: Grid
47 | Normal Cell Count: 0
48 | Offset:
49 | X: 0
50 | Y: 0
51 | Z: 0
52 | Plane: XY
53 | Plane Cell Count: 10
54 | Reference Frame:
55 | Value: true
56 | - Class: rviz/Axes
57 | Enabled: true
58 | Length: 0.5
59 | Name: Axes
60 | Radius: 0.009999999776482582
61 | Reference Frame:
62 | Value: true
63 | - Alpha: 1
64 | Autocompute Intensity Bounds: true
65 | Autocompute Value Bounds:
66 | Max Value: 10
67 | Min Value: -10
68 | Value: true
69 | Axis: Z
70 | Channel Name: intensity
71 | Class: rviz/LaserScan
72 | Color: 255; 0; 0
73 | Color Transformer: FlatColor
74 | Decay Time: 0
75 | Enabled: true
76 | Invert Rainbow: false
77 | Max Color: 255; 255; 255
78 | Max Intensity: 5932
79 | Min Color: 0; 0; 0
80 | Min Intensity: 106
81 | Name: LaserScan
82 | Position Transformer: XYZ
83 | Queue Size: 10
84 | Selectable: true
85 | Size (Pixels): 3
86 | Size (m): 0.009999999776482582
87 | Style: Flat Squares
88 | Topic: /scan
89 | Unreliable: false
90 | Use Fixed Frame: true
91 | Use rainbow: true
92 | Value: true
93 | - Alpha: 1
94 | Class: rviz/RobotModel
95 | Collision Enabled: false
96 | Enabled: true
97 | Links:
98 | All Links Enabled: true
99 | Expand Joint Details: false
100 | Expand Link Details: false
101 | Expand Tree: false
102 | Link Tree Style: Links in Alphabetic Order
103 | base_footprint:
104 | Alpha: 1
105 | Show Axes: false
106 | Show Trail: false
107 | base_link:
108 | Alpha: 1
109 | Show Axes: false
110 | Show Trail: false
111 | Value: true
112 | base_scan:
113 | Alpha: 1
114 | Show Axes: false
115 | Show Trail: false
116 | Value: true
117 | caster_back_link:
118 | Alpha: 1
119 | Show Axes: false
120 | Show Trail: false
121 | Value: true
122 | wheel_left_link:
123 | Alpha: 1
124 | Show Axes: false
125 | Show Trail: false
126 | Value: true
127 | wheel_right_link:
128 | Alpha: 1
129 | Show Axes: false
130 | Show Trail: false
131 | Value: true
132 | Name: RobotModel
133 | Robot Description: robot_description
134 | TF Prefix: ""
135 | Update Interval: 0
136 | Value: true
137 | Visual Enabled: true
138 | - Class: rviz/TF
139 | Enabled: true
140 | Frame Timeout: 15
141 | Frames:
142 | All Enabled: true
143 | base_footprint:
144 | Value: true
145 | base_link:
146 | Value: true
147 | base_scan:
148 | Value: true
149 | caster_back_link:
150 | Value: true
151 | imu_link:
152 | Value: true
153 | odom:
154 | Value: true
155 | wheel_left_link:
156 | Value: true
157 | wheel_right_link:
158 | Value: true
159 | Marker Scale: 0.4000000059604645
160 | Name: TF
161 | Show Arrows: true
162 | Show Axes: true
163 | Show Names: true
164 | Tree:
165 | odom:
166 | base_footprint:
167 | base_link:
168 | base_scan:
169 | {}
170 | caster_back_link:
171 | {}
172 | imu_link:
173 | {}
174 | wheel_left_link:
175 | {}
176 | wheel_right_link:
177 | {}
178 | Update Interval: 0
179 | Value: true
180 | Enabled: true
181 | Global Options:
182 | Background Color: 108; 108; 108
183 | Fixed Frame: base_footprint
184 | Frame Rate: 30
185 | Name: root
186 | Tools:
187 | - Class: rviz/Interact
188 | Hide Inactive Objects: true
189 | - Class: rviz/MoveCamera
190 | - Class: rviz/Select
191 | - Class: rviz/FocusCamera
192 | - Class: rviz/Measure
193 | - Class: rviz/SetInitialPose
194 | Topic: /initialpose
195 | - Class: rviz/SetGoal
196 | Topic: /move_base_simple/goal
197 | - Class: rviz/PublishPoint
198 | Single click: true
199 | Topic: /clicked_point
200 | Value: true
201 | Views:
202 | Current:
203 | Class: rviz/XYOrbit
204 | Distance: 1.910049319267273
205 | Enable Stereo Rendering:
206 | Stereo Eye Separation: 0.05999999865889549
207 | Stereo Focal Distance: 1
208 | Swap Stereo Eyes: false
209 | Value: false
210 | Focal Point:
211 | X: -0.02010004222393036
212 | Y: -0.467065691947937
213 | Z: -4.76837158203125e-7
214 | Focal Shape Fixed Size: false
215 | Focal Shape Size: 0.05000000074505806
216 | Name: Current View
217 | Near Clip Distance: 0.009999999776482582
218 | Pitch: 0.7953976392745972
219 | Target Frame:
220 | Value: XYOrbit (rviz)
221 | Yaw: 4.793606281280518
222 | Saved: ~
223 | Window Geometry:
224 | Displays:
225 | collapsed: false
226 | Height: 1056
227 | Hide Left Dock: false
228 | Hide Right Dock: true
229 | QMainWindow State: 000000ff00000000fd0000000400000000000001560000039bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000270000039b000000c600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000039bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000270000039b0000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000005e30000039b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
230 | Selection:
231 | collapsed: false
232 | Time:
233 | collapsed: false
234 | Tool Properties:
235 | collapsed: false
236 | Views:
237 | collapsed: true
238 | Width: 1855
239 | X: 65
240 | Y: 24
241 |
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/multi_turtlebots_sim/turtlebot3_description/urdf/common_properties.xacro:
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/multi_turtlebots_sim/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro:
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1 |
2 |
3 |
4 |
5 |
6 |
7 | Gazebo/DarkGrey
8 |
9 |
10 |
11 | 0.1
12 | 0.1
13 | 500000.0
14 | 10.0
15 | 0.001
16 | 0.1
17 | 1 0 0
18 | Gazebo/FlatBlack
19 |
20 |
21 |
22 | 0.1
23 | 0.1
24 | 500000.0
25 | 10.0
26 | 0.001
27 | 0.1
28 | 1 0 0
29 | Gazebo/FlatBlack
30 |
31 |
32 |
33 | 0.1
34 | 0.1
35 | 1000000.0
36 | 100.0
37 | 0.001
38 | 1.0
39 | Gazebo/FlatBlack
40 |
41 |
42 |
43 |
44 | true
45 | $(arg imu_visual)
46 |
47 | Gazebo/FlatBlack
48 |
49 |
50 |
51 |
52 | cmd_vel
53 | odom
54 | odom
55 | world
56 | true
57 | base_footprint
58 | false
59 | true
60 | true
61 | false
62 | 30
63 | wheel_left_joint
64 | wheel_right_joint
65 | 0.160
66 | 0.066
67 | 1
68 | 10
69 | na
70 |
71 |
72 |
73 |
74 |
75 | true
76 | imu_link
77 | imu_link
78 | imu
79 | imu_service
80 | 0.0
81 | 200
82 |
83 |
84 | gaussian
85 |
86 | 0.0
87 | 2e-4
88 | 0.0000075
89 | 0.0000008
90 |
91 |
92 | 0.0
93 | 1.7e-2
94 | 0.1
95 | 0.001
96 |
97 |
98 |
99 |
100 |
101 |
102 |
103 |
104 | Gazebo/FlatBlack
105 |
106 | 0 0 0 0 0 0
107 | $(arg laser_visual)
108 | 5
109 |
110 |
111 |
112 | 360
113 | 1
114 | 0.0
115 | 6.28319
116 |
117 |
118 |
119 | 0.120
120 | 3.5
121 | 0.015
122 |
123 |
124 | gaussian
125 | 0.0
126 | 0.01
127 |
128 |
129 |
130 | scan
131 | base_scan
132 |
133 |
134 |
135 |
136 |
137 |
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/multi_turtlebots_sim/turtlebot3_description/urdf/turtlebot3_burger.urdf.xacro:
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/multi_turtlebots_sim/turtlebot3_description/world/square.world:
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1 |
2 |
3 |
4 | 1
5 | 0 0 10 0 -0 0
6 | 0.8 0.8 0.8 1
7 | 0.1 0.1 0.1 1
8 |
9 | 1000
10 | 0.9
11 | 0.01
12 | 0.001
13 |
14 | -0.5 0.5 -1
15 |
16 |
17 | 1
18 |
19 |
20 |
21 |
22 | 0 0 1
23 | 100 100
24 |
25 |
26 |
27 |
28 |
29 | 100
30 | 50
31 |
32 |
33 |
34 |
35 |
36 |
37 |
38 |
39 |
40 |
41 | 10
42 |
43 |
44 | 0
45 |
46 |
47 | 0 0 1
48 | 100 100
49 |
50 |
51 |
52 |
56 |
57 |
58 | 0
59 | 0
60 | 1
61 |
62 |
63 | 0 0 -9.8
64 | 6e-06 2.3e-05 -4.2e-05
65 |
66 |
67 | 0.001
68 | 1
69 | 1000
70 |
71 |
72 | 0.4 0.4 0.4 1
73 | 0.7 0.7 0.7 1
74 | 1
75 |
76 |
77 | EARTH_WGS84
78 | 0
79 | 0
80 | 0
81 | 0
82 |
83 |
84 | 0.221526 0.040251 0 0 -0 0
85 |
86 |
87 |
88 |
89 | 4 0.15 0.5
90 |
91 |
92 | 0 0 0.25 0 -0 0
93 | 10
94 |
95 |
96 |
97 |
98 |
99 |
100 |
101 |
102 |
103 |
104 |
105 |
106 |
107 |
108 | 0 0 0.25 0 -0 0
109 |
110 |
111 | 4 0.15 0.5
112 |
113 |
114 |
115 |
119 | 1 1 1 1
120 |
121 |
122 | 0 1.925 0 0 -0 0
123 | 0
124 | 0
125 | 1
126 |
127 |
128 |
129 |
130 |
131 | 4 0.15 0.5
132 |
133 |
134 | 0 0 0.25 0 -0 0
135 | 10
136 |
137 |
138 |
139 |
140 |
141 |
142 |
143 |
144 |
145 |
146 |
147 |
148 |
149 |
150 | 0 0 0.25 0 -0 0
151 |
152 |
153 | 4 0.15 0.5
154 |
155 |
156 |
157 |
161 | 1 1 1 1
162 |
163 |
164 | -1.925 0 0 0 0 -1.5708
165 | 0
166 | 0
167 | 1
168 |
169 |
170 |
171 |
172 |
173 | 4 0.15 0.5
174 |
175 |
176 | 0 0 0.25 0 -0 0
177 | 10
178 |
179 |
180 |
181 |
182 |
183 |
184 |
185 |
186 |
187 |
188 |
189 |
190 |
191 |
192 | 0 0 0.25 0 -0 0
193 |
194 |
195 | 4 0.15 0.5
196 |
197 |
198 |
199 |
203 | 1 1 1 1
204 |
205 |
206 | 0 -1.925 0 0 -0 0
207 | 0
208 | 0
209 | 1
210 |
211 |
212 |
213 |
214 |
215 | 4 0.15 0.5
216 |
217 |
218 | 0 0 0.25 0 -0 0
219 | 10
220 |
221 |
222 |
223 |
224 |
225 |
226 |
227 |
228 |
229 |
230 |
231 |
232 |
233 |
234 | 0 0 0.25 0 -0 0
235 |
236 |
237 | 4 0.15 0.5
238 |
239 |
240 |
241 |
245 | 1 1 1 1
246 |
247 |
248 | 1.925 0 0 0 -0 1.5708
249 | 0
250 | 0
251 | 1
252 |
253 | 1
254 |
255 |
256 | 94 726000000
257 | 95 53756775
258 | 1560580423 231590453
259 | 94726
260 |
261 | 0 0 0 0 -0 0
262 | 1 1 1
263 |
264 | 0 0 0 0 -0 0
265 | 0 0 0 0 -0 0
266 | 0 0 0 0 -0 0
267 | 0 0 0 0 -0 0
268 |
269 |
270 |
271 | 0.221526 0.040251 0 0 -0 0
272 | 1 1 1
273 |
274 | 0.221526 1.96525 0 0 -0 0
275 | 0 0 0 0 -0 0
276 | 0 0 0 0 -0 0
277 | 0 0 0 0 -0 0
278 |
279 |
280 | -1.70347 0.040251 0 0 0 -1.5708
281 | 0 0 0 0 -0 0
282 | 0 0 0 0 -0 0
283 | 0 0 0 0 -0 0
284 |
285 |
286 | 0.221526 -1.88475 0 0 -0 0
287 | 0 0 0 0 -0 0
288 | 0 0 0 0 -0 0
289 | 0 0 0 0 -0 0
290 |
291 |
292 | 2.14653 0.040251 0 0 -0 1.5708
293 | 0 0 0 0 -0 0
294 | 0 0 0 0 -0 0
295 | 0 0 0 0 -0 0
296 |
297 |
298 |
299 | 0 0 10 0 -0 0
300 |
301 |
302 |
303 |
304 | 6.26373 -4.95847 1.50257 -1e-06 0.275643 2.35619
305 | orbit
306 | perspective
307 |
308 |
309 |
310 |
311 |
--------------------------------------------------------------------------------
/multi_turtlebots_sim/turtlebot3_description/world/turtlebot3_house.world:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 | model://sun
6 |
7 |
8 |
9 |
10 | model://ground_plane
11 |
12 |
13 |
14 | 1000.0
15 | 0.001
16 | 1
17 |
18 |
19 | quick
20 | 150
21 | 0
22 | 1.400000
23 | 1
24 |
25 |
26 | 0.00001
27 | 0.2
28 | 2000.000000
29 | 0.01000
30 |
31 |
32 |
33 |
34 |
35 |
36 | model://turtlebot3_house
37 |
38 |
39 |
40 | 0.4 0.4 0.4 1
41 | 0.7 0.7 0.7 1
42 | true
43 |
44 |
45 |
46 |
47 | 0.0 0.0 17.0 0 1.5708 0
48 | orbit
49 |
50 |
51 |
52 |
53 |
--------------------------------------------------------------------------------
/thumbnail.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/pallavbhalla/Navigate_Multiple_Robots/546ff5ca48fe0babc959ec24062834c03320df50/thumbnail.png
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