Prerequisites

• ROS2 installed (tested with ROS2 Humble/Foxy)
• TurtleBot3 simulation dependencies installed
• A properly configured ROS2 workspace (<ros2_ws>)

Installation

1. Navigate to your workspace source directory:

   cd <ros2_ws>/src

2. Clone the repository:

   git clone https://github.com/VedantC2307/MultiRobotProject-Private

3. Build the workspace:

   cd <ros2_ws>
   colcon build --symlink-install

   If you encounter any errors, try building again:

   colcon build --symlink-install

Running the Package

Step 1: Launch the Simulation

Open a terminal and run the following commands to launch the multi-robot simulation with SLAM:

export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/${ROS_DISTRO}/share/turtlebot3_gazebo/models
ros2 launch multirobot_map_merge multi_tb3_simulation_launch.py slam_gmapping:=True

Step 2: Start Random Walk Exploration

In a second terminal, source the workspace and start the random walk exploration node for robot 1:

source <ros2_ws>/install/setup.bash
ros2 run multi_robot_explore multi_robot_random_walk_robot1 --ros-args --params-file ./src/multi_robot_explore/config/robot_params.yaml

Open third terminal, source the workspace and start the random walk exploration node for robot 2:

source <ros2_ws>/install/setup.bash
ros2 run multi_robot_explore multi_robot_random_walk_robot2 --ros-args --params-file ./src/multi_robot_explore/config/robot_params.yaml

Step 3: Launch the Map Merge Node

In a forth terminal, launch the map merge node to combine the maps from multiple robots:

ros2 launch multirobot_map_merge map_merge.launch.py

Step 4: Visualize in RViz

In a fivth terminal, launch RViz for visualization:

rviz2 -d <ros2_ws>/src/m-explore-ros2/map_merge/launch/map_merge.rviz