updated readme and positions of spawning robots

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>

demo/README.md

@@ -25,14 +25,20 @@ docker compose -f compose.yaml up
 ```
 
 ## Simulation
-If you don't have Nvidia GPU replace `*gpu-config` with `*cpu-config` in `rosbot` service inside `compose.simulation.yaml` file.
+If you don't have Nvidia GPU replace `*gpu-config` with `*cpu-config` in `rosbot` service inside `compose.gazebo.yaml` file.
 
 In the PC's shell execute (in the `demo/` directory):
 ```
 xhost local:root
 docker compose -f compose.gazebo.yaml up
 ```
 
+If you want to use multiple robots check the `compose.gazebo.multirobot.yaml` (in the `demo/` directory):
+```
+xhost local:root
+docker compose -f compose.gazebo.multiplerobot.yaml up
+```
+
 ## Drive the ROSbot
 In another shell (if you use hardware use another ROSbot's shell) enter the docker container:
 ```
@@ -43,4 +49,9 @@ and run inside `teleop_twist_keyboard` to drive the ROSbot
 ros2 run teleop_twist_keyboard teleop_twist_keyboard
 ```
 
+In case of driving one of the robot running `compose.gazebo.multirobot.yaml` add the namespace to the `teleop_twist_keyboard`. For the `robot1`:
+```
+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r __ns:=/robot1
+```
+
 With keys `i`, `j`, `l`, `,` you can drive forward, counter clockwise, clockwise and backwards. If you are using macanum wheels (see `demo/.env` file) hold `Shift` key that way the ROSbot goes left and right with `j` and `l` keys instead rotates.

demo/compose.gazebo.multirobot.yaml

@@ -1,8 +1,8 @@
 # Quick Start
 #
 # 1. run `xhost +local:docker && docker compose -f compose.gazebo.multirobot.yaml up` on the laptop
-# 2. open a shell inside a docker container `docker compose -f compose.gazebo.yaml exec -it rosbot bash`
-# 2. run `ros2 run teleop_twist_keyboard teleop_twist_keyboard` inside the container
+# 2. open a shell inside a docker container `docker compose -f compose.gazebo.multirobot.yaml exec -it rosbot bash`
+# 2. run for e. g. `ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r __ns:=/robot1` inside the container
 
 x-gpu-config:
   &gpu-config
@@ -20,7 +20,7 @@ x-cpu-config:
 
 services:
   rosbot:
-    # image: husarion/rosbot-gazebo:humble
+    image: husarion/rosbot-gazebo:humble-nightly
     # build:
     #   context: ../
     #   dockerfile: Dockerfile.gazebo
@@ -30,4 +30,4 @@ services:
     command: >
       ros2 launch rosbot_gazebo simulation.launch.py
       mecanum:=${MECANUM:-False}
-      robots:="robot1={y: 0.0}; robot2={y: 1.0}; robot3={y: 2.0};
+      robots:="robot1={y: -4.0}; robot2={y: -2.0}; robot3={y: 4.0};"