A ROS package that implements a multi-robot SLAM system. For full info see original repo cg_mrslam
Added new mode real2. Robots publish all messages to <namespace>/mrslam_msgs_rX (where X - number of recipient) when there are any subscribers. The others robots automatically subscribe to the corresponding topic.
It allows you
- To run multiple robots on single host and simulate them in Gazebo
- To run robots on different hosts and communicate them through multimaster_fkie
Changed console output to show you only helpful info through rosconsole. To show debug messages set #define DEBUG = true in definitions.h
Added g2o_merger to merge output graphs of robots into one. After it you can open and optimize this graph in g2o_viewer
First robot:
rosrun cg_mrslam cg_mrslam -idRobot 0 -nRobots 2 -scanTopic scan -mapFrame robot0/map -odomFrame robot0/odom -baseFrame robot0/base_link -modality real2 -publishMap -publishGraph -o graph.g2o __ns:=robot0
Second robot:
rosrun cg_mrslam cg_mrslam -idRobot 1 -nRobots 2 -scanTopic scan -mapFrame robot1/map -odomFrame robot1/odom -baseFrame robot1/base_link -modality real2 -publishMap -publishGraph -o graph.g2o __ns:=robot1
g2o_merger:
g2o_merger -f1 graph1.g2o -f2 graph2.g2o -o merged.g2o