ROBOTIS-Will
commented
3 years ago Hi @AaronWaxson I'm sorry about delayed response on this. There's an example of loading multiple TurtleBot3 for SLAM as below. Have you tried the example? https://emanual.robotis.com/docs/en/platform/turtlebot3/basic_examples/#load-multiple-turtlebot3s
When loading multiple robots, each robot will have identical TF, topics, nodes, etc, therefore, you should separate them with different namespaces.
I want to simulate with multi turtlebot3s to check my algorithm. But when I wanted to launch multi turtlebot3 with amcl, I failed. I couldn't get lasers' datas. multi_turtlebot3.launch
my_amcl.launch:
When I launch the file, I got the message like these:
log file: /home/aaron/.ros/log/427a48f2-a4da-11eb-91c3-65637e2cf421/tb3_1-spawn_urdf-9*.log Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_left_link at time 0.660000 according to authority unknown_publisher at line [ WARN] [1619254292.831645910, 0.661000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_left_link at time 0.660000 according to authority unknown_publisher 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp [ WARN] [1619254293.285058609, 1.094000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_left_link at time 1.093000 according to authority unknown_publisherHow should I do to can get the robots' sensors' datas right? Is tf's problem? And I noticed rqt_graph's difference between launch single robot and multi robots. single:
multi:
I searched a lot in the internet but still couldn't find a way to fix that, please help. THANKS!!!!!