Multiple robots

[zeidk]

Hi, how to spawn multiple robots in the same environment? I am currently using roslaunch rbkairos_sim_bringup rbkairos_complete.launch launch_robot_b:=true and I have both robots in RViz and Gazebo. However, each robot has its own map frame robot_map and robot_b_map. Is there a way to have one common map frame for both robots? Should I do the remapping myself or is there an easy change that can be made in one of the launch files?

Thank you

[zeidk]

I just want to add that I'm using the github repositories and not the Debian ones.

[alex-arnal]

Hi, the simplest way to make the robots share the environment is creating a parent frame that points to the map frame of both robots.

As both robots are using the same map you can just create an static transform like this:

• This will create a parent frame called world for robot_map that equals in position and orientation.

  rosrun tf static_transform_publisher 0 0 0 0 0 0 world robot_map 100

• With the second static transform you can link the second robot to the TFs tree of the first robot using world as connection

  rosrun tf static_transform_publisher 0 0 0 0 0 0 world robot_b_map 100

Once you have both robots connected, you should be capable to see the second robot in the TFs tree representation of the first robot in RVIZ.

[zeidk]

Awesome! Thank you very much for the fast reply. Also, is there a more detailed documentation on this package? There are many arguments we can pass to the launch files. Some of these arguments are intuitive while others are not easy to guess.