multi_robot_in_gazebo
Create multiple turtlebots in the Gazebo simulator
Environment
- Ubuntu 16.04
- ROS Kinect
- Gazebo 7.0+ (Recommand Gazebo 9.0 which support parallel physics)
How to use it
Put these packages into your ROS Workspace (${WS}/src), and
catkin_make
Then, start multi-robot simulation
roslaunch turtlebot_gazebo test.launch world_file:=${YOUR_WORLD_FILE}
[Option] start gazebo gui
gzclient
How to create different multi-robot scenarios
Go to launch file
cd turtlebot_hokuyo/turtlebot_gazebo/launch
Create a scenario which have ten robots
python create_multi_robots.py --robot_num 10 --env_size 8
Finally, the new test.launch file would be generated!