hikashi / multi-robot-rrt-exploration-melodic Goto Github PK

Optimization of the task assignment for each robot requires improvement.
The greedy nature of the tasks assignment often leads to less-ideal coverage for the exploration.

I ran into this problem when I was running multiple robots and I didn't know what to do about it. Is it useful to publish a tf static transform from odom to base_footprint? My tf tree is disconnected from odom to base_footprint.Meanwhile, there is no news on my scan topic.I just learned multi-robot slam, and there are many things I don't understand. I hope someone can give me some advice!

Hey @hikashi
You have mentioned here that the issue was with move_base parameters. Actually I am also trying to run rrt exploration with 2 real robots(not turtlebots) and facing the same issue. So can you please tell what changes are required to be made in mova_base parameters?

The calculation of the discount function and revenue calculation requires fixes.
The outcome of these combinations renders an insignificant scale of the navigation cost.

Hello, when I launching single_tb3_house.launch, there is an error with

while processing /home/leon/catkin_explore/src/multi-robot-rrt-exploration-melodic/ros_multitb3/launch/includes/move_base2.launch: Invalid roslaunch XML syntax: [Errno 2] No such file or directory: u'/home/leon/catkin_explore/src/multi-robot-rrt-exploration-melodic/ros_multitb3/launch/includes/move_base2.launch'

I change move_base2.launch to move_base.launch
then the Gazobo has died and no robot and scene in the Rviz at all !

terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >' what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument

Could you please tell me where is wrong? Thanks a lot !

The costmap topic of move base isn't have update,even have slam map
And I already check the topic name in parameter file of movebase
Then check current topic of the name (tb3_1 2 3/map ) have data update.

FYI

as the title suggested, there is some drifting and map shifting issues.
Mostly changing the G-mapping to something better might solve this issue.