ROS Multi Robot Filo Management

In this work title, I will show you how to set up a ROS-based multi-robot system and make it ready for use.

Requiremets 🔷

UBUNTU 18.04

ROS Melodic

Turtlebot3 or Turtlebot2 (Made using Turtlebot3)

Installations ⬇️

🔻 Before starting make a work space:

mkdir -p filo_ws
cd filo_ws/
mkdir -p src
cd src/

🔻 Start downloading necessary files to the workspace:

git clone https://github.com/Hasan-atc/ROS_multi_robot.git
git clone https://github.com/ros-planning/navigation.git
git clone https://github.com/ros/geometry2.git

🔻 Let's compile the workspace:

cd .. # Directory is filo_ws
catkin_make

🔻 Edit '.bashrc' file

Type this code in terminal screen:
gedit ~/.bashrc

Paste the following into the opened txt file. Save and exit later :
source /opt/ros/melodic/setup.bash
export TURTLEBOT3_MODEL=waffle_pi
source ~/filo_ws/devel/setup.bash

export ROS_MASTER_URI=http://localhost:11311
export ROS_HOSTNAME=localhost

Type this code in terminal screen:
bash

Operating the Multi-Robot System ⌨️

✔️ First Terminal -- Initializing the Gazebo simulation environment:

roslaunch turtlebot3_gazebo multi_turtlebot3.launch

✔️ Secondary Terminal -- Initializing the RVİZ simulation environment:

roslaunch turtlebot3_navigation multi_nav_bringup.launch

❗ In order for the robot positions to come in this way, you must determine the positions of the robots with the help of 2D Pose Estimate.

❗ As described in the previous repo, mapping is required.

Enabling movement of robots 🤖

➡️ Movement through Rviz:

With the 2D Nav Goal button, the robot can be moved to the desired location.

➡️ Movement with Topics:

move = actionlib.SimpleActionClient("tb3_0/move_base", MoveBaseAction) # Different move_base topic is published for each robot
goal = MoveBaseGoal()

goal.target_pose.header.frame_id = "map"  # Frame required to determine Target Points
goal.target_pose.pose.position.x = x  # Target Points X coordinate
goal.target_pose.pose.position.y = y  # Target Points Y coordinate
goal.target_pose.pose.position.w = 1.0  # Position angle of the robot

istemci.send_goal(hedef)  # Sending target points to the robot

Ease of use with the interface 🏁

💡 With the buttons and information sections on the interface, you can decide which positions all the robots will go to:

cd filo_ws/src/code
chmod +x multi_robot.py & chmod +x robots.py
python multi_robot.py

❗ Make sure the multi_robot.py and robots.py files are in the same directory

Result

🎉Congratulations, at the end of this study, you learned to move 3 different robots with interface connection autonomously on the map.

For more detailed information, I recommend you to review the links that I will reach in the resources section. Stay with the robots.:tada:

Resources 🤝

🔸 https://osrf.github.io/ros2multirobotbook/

🔸 http://wiki.ros.org/navigation

🔸 https://pypi.org/project/PyQt5/

🔸 https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/

Coming Soon 🥇

✅ I will open source Teknofest Autonomous Vehicle Competition codes