Multiple robots slave

The program of multiple robot project running in slave robot

Please run the Master program in master computer

Test Environment

• robot -- turtlebot2
• system -- ubuntu 16.04
• UWB -- nooploop
• platform -- ros kinetic/ melodic

Installation

cd ~/catkin_ws/src git clone https://github.com/hanruihua/slave_multirobot.git

dependence

sudo apt-get install python-yaml pip3 install rospkg numpy

For turtlebot2

Install the ros package related to turtlebot

sudo apt-get update
sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-interactions ros-kinetic-turtlebot-simulator ros-kinetic-kobuki-ftdi ros-kinetic-rocon-* ros-kinetic-ar-track-alvar-msgs

For visual odometry(To be modified)

Eigen

sudo apt-get install libeigen3-dev

Sophus

git clone https://github.com/strasdat/Sophus.git

OpenCV 3.1

in ros library

g2o

please use the order version the in https://github.com/hanruihua/slave_multirobot/tree/master/slave_VO/CMake_modules

For UWB (nlink)

Attention: The byte rate of serial should equal to the ros loop rate when you want read the serial data(when you use the slave_uwb node). If you use the modified nlink uwb node, you can ignore this ros loop rate requirements.

serial

sudo apt-get install ros-kinetic-serial

modify serial rule

cd slave_driver/nlink
sudo sh uwb_serial.sh

Configure ros network and environment parameter

Before run the launch file, you should allocate the "SlaveID"(Slave01 Slave02 ...) for this slave robot(in .zshrc or .bashrc)

template:

echo "export ROS_MASTER_URI=http://master_ip:11311" >> ~/.zshrc
echo "export ROS_HOSTNAME=localhost_ip" >> ~/.zshrc
echo "export ROS_IP=localhost_ip" >> ~/.zshrc
echo "export NAME_SPACE=agentID" >> ~/.zshrc

source ~/.zshrc

example:

• In .zshrc or .bashrc:

  • export ROS_MASTER_URI=http://192.168.0.111:11311
  • export ROS_HOSTNAME=192.168.0.114
  • export ROS_IP=192.168.0.114
  • export NAME_SPACE=agent7

Build

cd ~/catkin_ws catkin_build

If you do not need certain package, you can use catkin_make -DCATKIN_BLACKLIST_PACKAGES="floder" to ignore.

example: catkin_make -DCATKIN_BLACKLIST_PACKAGES="slave_vo"

Run

Run the launch file in each slave robot to launch each turtlebot

roslaunch slave_bringup multi_minimal.launch

with UWB

roslaunch slave_bringup multi_minimal_uwb.launch

PowerBoot:

You can skip the configure, build and run parts, simply add the auto_bringup.sh to the startup application by

gnome-terminal -x /home/turtlebot/catkin_ws/src/slave_multirobot/slave_bringup/auto_bringup/auto_bringup.sh 'my_inc01'
sudo updatedb

Then, when the robot startup, it will automatically pull the latest code, build it and run the launch file.

Authors

Han - Han
Chen - Chen

License

This project is licensed under the MIT License