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ZhiangChen / vca

vision-based collision avoidance for multi-robot systems
MIT License
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amcl instances #1

Open ZhiangChen opened 6 years ago

ZhiangChen commented 6 years ago

In the robots/launch/amcl.launch, group in roslaunch failed to generate transforms from /map to $(arg robot_name)/odom. Two different amcl nodes are specialized for each robot. group should have solved the amcl instance problem, but I didn't dig too much.

ZhiangChen commented 6 years ago

Another solution is to assign the robot name as an argument when launching the amcl node, and the argument will be used for the node name:

if (argc < 2) {
        ROS_ERROR("You must specify robot id.");
        return -1;
    } 
    char *id = argv[1];
    robot_id = atoi(id);
    string node_name = "amcl";
    node_name += id;
    cout << node_name;

    ros::init(argc, argv, node_name);
    ros::NodeHandle nh;

In the launch file:

<node name="amcl0" pkg="navigation" type="amcl" args="0" output="screen"/>