/multirobot-map-merge

Used multirobot_map_merge package to merge maps from two robots simulated in Stage robot simulator

Primary LanguageCMake

Multirobot map merging

I used multirobot_map_merge package to merge maps from two robots simulated in Stage robot simulator.

Visualization of Merged map

Setting up the simulation environment

Move into ~/catkin_ws/src directory and clone this repository in a folder called ca_mapping by running following command:

git clone https://github.com/umerjamil16/multirobot-map-merge.git ca_mapping Now, run

roscore

And source the .bash file.

source ~/.bashrc

source ~/catkin_ws/devel/setup.bash

Using the multi_robot_map_merge package

  1. To launch Rviz, .world file in Stage and broadcast respective TFs:

roslaunch ca_mapping main.launch

  1. To launch gmapping node:

roslaunch ca_mapping gmapping_3.launch

  1. To launch multirobot_map_merge_package:

roslaunch ca_mapping map_merge.launch

  1. To change the position of the robots, run the following command in a terminal: rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/robot_N/cmd_vel

  2. Move into maps directory and save the merged map by:

rosrun map_server map_saver -f FILENAME map:=/map_merged_1

  1. To provide the saved merged map:

roslaunch ca_mapping provide_merged_map.launch

Other useful commands

To manually launch a .world file in Stage, move into world directory of this repository and run:.

rosrun stage_ros stageros island.world

For TFs visualization: rosrun rqt_tf_tree rqt_tf_tree

ROS Packages used