/multiple_turtlebots_stage_amcl

An example of simulation of multiple robots in stage. They are using amcl node for localization.

Primary LanguageCMake

Running multiple robots in stage simulator with navigation stack

Starting with two robots

To start with two robots call roslaunch multiple_robots_in_stage robots_in_stage.launch. This will set two robots in the map. To give them a goal you can call rostopic pub /robot_1/move_base_simple/goal geometry_msgs/PoseStamped '{header: {stamp: now, frame_id: "/map"}, pose: {position: {x: 1.0, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}' Alternatively, python scripts/patrol_organizer will set both robots to patrol simultaneously.