Hello,
I want to have multiple robots in stage navigation.
I used the stage navigation tutorial code.
The problem is I can have gmapping with 1 robot.
But if I include a second robot the TF doesnt work and gmapping does not work any more.
My laser.world file:
> define obstacle model ( size [0.5> 0.5 0.5] gui_nose 0 obstacle_return 1 )>> define hokuyo ranger ( sensor( > range [ 0.02 4.0 ]> fov 180> samples 682 ) block(> points 4> point[0] [0 1]> point[1] [1 1]> point[2] [1 0]> point[3] [0 0]> z [0 1] ) color "black" size [ 0.05 0.05 0.1 ] )>> define roomba position ( block ( > points 4 point[0] [ 0.700 0.705 ]> point[1] [ 0.700 0.0 ] point[2] > [ 0.0 0.0 ] point[3] [ 0.0 0.705 ]> z [0 1] ) size [0.7 0.705 0.3]> origin [-0.125 0 0 0] color> "gray50">> gui_nose 1 obstacle_return 1>> drive "diff">> localization "gps" )>> define roomba_hokuyo roomba( color> "gray90" hokuyo(pose [ 0.1 0.0 0.0> 0.0 ]) )>> define turtlebot roomba( color> "gray90" origin [-0.100 0 0 0] )>> define floorplan model ( color> "gray30" boundary 1>> gui_nose 0 gui_grid 0 > gui_outline 0 gui_move 0 > gripper_return 0 fiducial_return 0 > obstacle_return 1 ranger_return 0.8> )>> define zone model ( color "orange" > size [ 4 4 0.01 ]>> gui_nose 0 gui_grid 0 gui_move 1> gui_outline 0>> obstacle_return 0 ranger_return -1> )>> window ( size [ 500.000 400.000 ] > scale 20 center [ 0.0 0.0> ] rotate [ 0 0 ]> show_data 1 show_trailarrows 0 ) floorplan ( > name "map" size [20.000 15.000> 0.800] pose [0 1 0 0] bitmap "map.png" )>>> roomba_hokuyo ( > name "roomba_hokuyo_0" pose [ 0.00> 0.00 0 0.00 ] )>> roomba_hokuyo ( > name "roomba_hokuyo_1" pose [ 1.00> 0.00 0 0.00 ] )
Laser_gmapping.launch:
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