Final Project for CSM CSCI565 - Distributed Computing
Initialize a roscore, a rosbridge, the unity simulation, two gmappers, and ???
Nothing you haven't seen before.
roscore
Bridge server between Unity (ROS# Websockets) and ROS
roslaunch rosbridge_server rosbridge_websocket.launch
Hit Play.
For each robot, you need to export a namespace for gmapper to properly create local maps.
export ROS_NAMESPACE=/robot1
rosrun gmapping slam_gmapping scan:=/robot1/scan _odom_frame:=robot1_odom _base_frame:=map _map_update_interval:=1.0 _angularUpdate:=0.1 _linearUpdate:=0.1