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tomasvr / turtlebot3_drlnav

A ROS2-based framework for TurtleBot3 DRL autonomous navigation
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How to configure for multirobot system? #15

Open NazishT opened 5 months ago

NazishT commented 5 months ago

Hi,

Can you please provide some guidance if we are to use the same package for multirobots spawned in the same environment? What changes need to be made?

thank you.

tomasvr commented 3 months ago

I wrote a small comment about it here. Essentially, you need to ensure that there is a separate instance of each topic for each individual robot. e.g. scan_robot_1, scan_robot_2, cmd_vel_robot_1, cmd_vel_robot_2, etc. Then it is probably easiest to run a separate agent for each individual robot. (You could have one laptop per robot but have them all share the same simulation). Anything else requires some serious modifications to the code to allow for multiple agents to be trained/run on a single machine, possibly with threads.