multi_robot_navigation

ROS 2 package for multi-turtlebot navigation in Gazebo This package is tested on ros2 (galactic)

I. Make sure that you have the following packages:

• gazebo_ros

      sudo apt install ros-galatic-gazebo*

• Nav2

 	sudo apt install ros-galactic-navigation2
 	sudo apt install ros-galactic-nav2-bringup

• Turtlebot3 packages

 	sudo apt install ros-galactic-dynamixel-sdk
 	sudo apt install ros-galactic-turtlebot3-msgs
 	sudo apt install ros-galactic-turtlebot3-*
 	sudo apt install ros-galactic-turtlebot3-navigation2

II. Python libraries

• Jinja2

 	sudo apt install python3-pip
 	pip install Jinja2

III. Changing the number of robots

This is done through the robot_specs.yaml, located in the config file of the package.

IV. Running the code

You can run the code through:

i. ros2 launch multi_robot_navigation main_launch_multi_robot_navigation.launch.py

ii. Sending a goal

1.On the tools properties, change the namespace of the /goal_pose topic. Note, the robots will be named following the format /robot_0 , /robot_1, etc.

2.After adding the namespace, define the goal pose through the upper bar menu.