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SteveMacenski / slam_toolbox

Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS
GNU Lesser General Public License v2.1
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Multi robot environment not working #645

Closed lliendo closed 1 year ago

lliendo commented 1 year ago

Required Info:

Problem description

I'm trying to generate a single map using two robots. I'm not using real robots but a Webots environment. I've described with as much information as possible in this post in the Robotics Exchange site:

Multi robot SLAM problem

For the issue described above, today I've also tried to namespace the /map topic to /mir_X/map (e.g: /mir_1/map, /mir_2/map) with the hope of seeing two different maps (one for each robot in two different RViz) again with no luck. As per the post mentioned above again when I inspect the graphs they seem to be ok for one robot but wrong when two robots are spawned through launch files in exactly the same way.

Is it possible that the slam toolbox at some point is reusing something or some value is hardcoded that makes this setup impossible to work? I've to the best of my knowledge tried everything related to namespacing topics, frames, etc again without success. I'm surprised that even the last test that I performed where I expect to have two completely different maps generated for each robot does not work.

Expected behavior

One single map generated from the information from two or more robots or alternatively two or more different maps produced for each namespace/robot.

Actual behavior

No maps are generated in any case.

Any insights as for why this happens much appreciated!

Thanks for your time, Lucas.

SteveMacenski commented 1 year ago

Please don’t cross post with question sites