Multi Robot System

Multi Robot System developed for ROS2 Humble, allows the easy incorporation of several robot models with little configuration. There is no limit on the number of robots, if you incorporate UGV you can provide your parameter file for autonomous navigation.

Features

• Unlimited number of robots
• Allows all types of robots
• Incorporation of robot navigation files
• Simple and fast configuration
• Supports robots designed in URDF, SDF or both

Installation

Create a workspace

  mkdir -p ~/ros2_ws/src
  cd ~/ros2_ws/src

Clone this repository

  git clone https://github.com/iesusdavila/multi_robot.git

Build the workspace with colcon

  cd ~/ros2_ws
  colcon build

Configuration

Input parameters for the world

For the world we have to enter the following parameters:​

• Name of the world​
• Route where the world is located​
• World map (for autonomous navigation)

Input parameters for robots​

For robots we need to enter the following parameters:​

• Name of the robot​
• Initial position in the world (x, y, z, yaw)​
• Need RViz for the robot
• Path where the urdf or xacro is located​​
• Path where the sdf is located (optional)​​
• Path of the navigation parameters

Deployment

To deploy this project run

  ros2 launch multi_robot_bringup multi_robot_simulation.launch.py sim_param_file:=PATH_OF_CFG_MRS navigation:=false

If you need autonomous navigation, activate param navigation in launch

  ros2 launch multi_robot_bringup multi_robot_simulation.launch.py sim_param_file:=PATH_OF_CFG_MRS navigation:=true

Demo

Using 4 robots UGV in warehouse: 2 TurtleBot3 Burger and 2 Limo

Using 6 robots UGV in warehouse: 3 TurtleBot3 Waffle and 3 ROVER

Using 3 robots UGV in house: mpo700, mpo500 and mp500

Related

Projects using this Multi Robot System

Software Architecture Master-Slave for UGV

Follower Robot using only LIDAR 2D

Authors

• @iesusdavila
• @cesarq19