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cartographer-project / cartographer_ros

Provides ROS integration for Cartographer.
Apache License 2.0
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Multi-robot SLAM #1645

Open GrantZheng86 opened 3 years ago

GrantZheng86 commented 3 years ago

Hello everyone,

I am trying to perform localization with a fleet of robots, and it looks like from the documentation page (here) Cartographer is able to take point cloud data from multiple robots in parallel. And I assume that a new robot is added by calling "start_trajectory" service.

But here are some suggestions from #1321 that a new trajectory can only be started once the previous one has been ended.

What will be the setup for allowing Cartographer to perform localization with multiple robots? For example, the point cloud and imu topics. I currently have all the robots publishing on different topics, and I am not using gRPC, all the topics are published to the same local network.

EDIT: After some trying, it looks like that "start trajectory" cannot add another localization. I am currently trying a multi-master setup mentioned in #1300. Planning to build a decentralized network that can share map updates among machines.

sandilyasg commented 1 year ago

@GrantZheng86 were you able to build a decentralized network that can share map updates among machines?