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ai-winter / ros_motion_planning

Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF, Pure Pursuit etc.
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Problems testing multiple turtlebots #54

Closed GithubHZzz closed 5 months ago

GithubHZzz commented 6 months ago

Hello there. I tried testing multiple turtlebots by modifying the user_config.yaml but the simulation stayed the same and only displayed one turtlebot. Im using the same example as the one you gave. Is there something im missing?

Thanks.

example
ZhanyuGuo commented 6 months ago

Hello @GithubHZzz, and thanks for your supporting!

We are sorry that our documentation is not up to date.

  1. "maps_layer_config.yaml" should be "map_layers_config.yaml". This mistake makes launch files re-generation failed.

  2. Robot2's position should be correct, e.g., robot2_x_pos: "1.0", robot2_y_pos: "0.0"

  3. RViz should be set correctly. RobotModel->Robot Description should be changed from robot_description to robot1/description and TF Prefix should be robot1. With adding another RobotModel, you can visualize robot2.

githubzhouzz commented 5 months ago

Hello. I made the modifications according to what you said and found that although three robots can indeed be displayed, clicking on [2D Nav Goal] does not move the robots. Is there a problem with which namespace? I haven't found it yet.