This repo contains Swarm-SLAM launch examples.
Important note: If you want to use the datasets launch files as is, add a symlink to your datasets ROS 2 bags in the data/ folder and modify the bag path accordingly. As an example, currently the graco_lidar launch files expect the first three sequences from the GRACO dataset to be under data/Graco_Ground/Graco-0, data/Graco_Ground/Graco-1, and data/Graco_Ground/Graco-2.
To obtain efficient communication between the robots, we suggest using the zenoh-dds-ros2-bridge. Follow their installation instructions. Assuming that Zenoh is installed correctly, you need to run it on each robot as in this launch file.
You can also use the zenoh-dds-bridge as in this launch file, but this will be soon deprecated by Zenoh.