2️Perception

In order to create a map with multiple robots, multirobot-map-merge package is required. Follow the instructions below instead of Launching Simulation World section of this page to operate multiple TurtleBot3.

1. Install necessary package

   $ sudo apt-get install ros-kinetic-multirobot-map-merge

2. Load multiple TurtleBot3 in TurtleBot3 House. These loaded turtlebot3s are set initial position and orientation.

   $ roslaunch turtlebot3_gazebo multi_turtlebot3.launch

   
3. Launch SLAM for each TurtleBot3

   $ ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_slam turtlebot3_gmapping.launch set_base_frame:=tb3_0/base_footprint set_odom_frame:=tb3_0/odom set_map_frame:=tb3_0/map
   $ ROS_NAMESPACE=tb3_1 roslaunch turtlebot3_slam turtlebot3_gmapping.launch set_base_frame:=tb3_1/base_footprint set_odom_frame:=tb3_1/odom set_map_frame:=tb3_1/map
   $ ROS_NAMESPACE=tb3_2 roslaunch turtlebot3_slam turtlebot3_gmapping.launch set_base_frame:=tb3_2/base_footprint set_odom_frame:=tb3_2/odom set_map_frame:=tb3_2/map

4. Merge map data from each TurtleBot3

   $ roslaunch turtlebot3_gazebo multi_map_merge.launch

5. Launch RViz

   $ rosrun rviz rviz -d `rospack find turtlebot3_gazebo`/rviz/multi_turtlebot3_slam.rviz

6. Operate each TurtleBot3

   $ ROS_NAMESPACE=tb3_0 rosrun turtlebot3_teleop turtlebot3_teleop_key
   $ ROS_NAMESPACE=tb3_1 rosrun turtlebot3_teleop turtlebot3_teleop_key
   $ ROS_NAMESPACE=tb3_2 rosrun turtlebot3_teleop turtlebot3_teleop_key

   
7. Save the Map

   $ rosrun map_server map_saver -f ~/map