Multi-turtlebot3-Gazebo-ROS2

What's New?

Multi turtlebot3 environment
Turtlebot3 with Velodyne VLP-16 environment
Multi turtlebot3 Velodyne VLP-16 environment

Result

Multi turtlebot3

TF result

multi-turtlebot3.mp4

Turtlebot3 with Velodyne VLP-16

TF result

turtlebot-velodyne.mp4

Build docker image

docker pull tyoung96/multi-turtlebot-gazebo

Make docker container

On local terminal,

git clone https://github.com/Taeyoung96/Multi-turtlebot3-Gazebo-ROS2.git

xhost +local:docker

After that,

nvidia-docker run --privileged -it \
           -e NVIDIA_DRIVER_CAPABILITIES=all \
           -e NVIDIA_VISIBLE_DEVICES=all \
           --volume=${Multi-turtlebot3-Gazebo_repo_root}:/root/workspace/src \
           --volume=/tmp/.X11-unix:/tmp/.X11-unix:rw \
           --net=host \
           --ipc=host \
           --name=${docker container name} \
           --env="DISPLAY=$DISPLAY" \
           ${docker image} /bin/bash

⚠️ You should change {Multi-turtlebot3-Gazebo_repo_root}, {docker container name}, {docker image} to suit your environment.

For example,

nvidia-docker run --privileged -it \
           -e NVIDIA_DRIVER_CAPABILITIES=all \
           -e NVIDIA_VISIBLE_DEVICES=all \
           --volume=/home/taeyoung/Desktop/Multi-turtlebot3-Gazebo-ROS2:/root/workspace/src \
           --volume=/tmp/.X11-unix:/tmp/.X11-unix:rw \
           --net=host \
           --ipc=host \
           --name=multi-turtlebot-gazebo \
           --env="DISPLAY=$DISPLAY" \
           --env="QT_X11_NO_MITSHM=1" \
           tyoung96/multi-turtlebot-gazebo:latest /bin/bash

Build and run it!

When you run the container, it looks like this

root@taeyoung-cilab:/#

Enter them in turn to proceed with the build.

cd root/workspace/

colcon build

export TURTLEBOT3_MODEL=burger

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/root/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/

source install/setup.bash

TODO : There is a still warning message.

Re-enter the activated docker container

docker exec -it -w /root/workspace multi-turtlebot-gazebo /bin/bash

source /opt/ros/humble/setup.bash

source install/setup.bash

Multi-turtlebot3

ros2 launch turtlebot3_gazebo multi_turtlebot3_world.launch.py

Turtlebot3 with Velodyne VLP-16

ros2 launch turtlebot3_gazebo turtlebot3_velodyne_burger.launch.py

Mutli-turtlebot3 with Velodyne VLP-16

ros2 launch turtlebot3_gazebo multi_turtlebot3_velodyne_world.launch.py

For keyboard teleop

Check /tb3_0/cmd_vel and remapping topic.

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/tb3_0/cmd_vel

Check TF

ros2 run tf2_tools view_frames

TODO

When we run the launch file, we get an error display like the one below. It's fine to execute, but we need to figure out why.

Acknowldegement

multi_turtlebot3_world.launch code is used for ROS2 Navigation Online Course | The Construct.

For velodyne, I followed this youtube link and modified the code.

Each folder has their own license.