Online visualization tool for Swarm-SLAM
Installation
- Build the visualization tool in a ROS 2 workspace with
colcon build. - Install the Zenoh DDS bridge for ROS 2 to avoid flooding the network with discovery messages and unwanted communication.
- If you don't want to use Zenoh, run the following commands without the
ROS_DOMAIN_ID
Run the visualization station
ROS_DOMAIN_ID=100 ros2 launch cslam_visualization realsense_visualization.launch.py
zenoh-bridge-dds -d 100 --allow /cslam/.*
Run Swarm-SLAM on the robots (Realsense D400 example)
ROS_DOMAIN_ID=$ROBOT_ID ros2 launch cslam_experiments experiment_realsense.launch.py robot_id:=$ROBOT_ID
zenoh-bridge-dds -d $ROBOT_ID --allow /cslam/.*