ncnynl / slave_multirobot

The program of multiple robot project running in slave robot

Multiple robots slave

The program of multiple robot project running in slave robot

Please run the Master program in master computer

Test Environment

• robot -- turtlebot2
• system -- ubuntu 16.04
• UWB -- nooploop
• platform -- ros kinetic/ melodic

Installation

cd ~/catkin_ws/src git clone https://github.com/hanruihua/slave_multirobot.git

dependence

sudo apt-get install python-yaml pip3 install rospkg numpy

For turtlebot2

Install the ros package related to turtlebot

sudo apt-get update
sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-interactions ros-kinetic-turtlebot-simulator ros-kinetic-kobuki-ftdi ros-kinetic-rocon-* ros-kinetic-ar-track-alvar-msgs

For visual odometry(To be modified)

Eigen

sudo apt-get install libeigen3-dev

Sophus

git clone https://github.com/strasdat/Sophus.git

OpenCV 3.1

in ros library

g2o

please use the order version the in https://github.com/hanruihua/slave_multirobot/tree/master/slave_VO/CMake_modules

For UWB (nlink)

Attention: The byte rate of serial should equal to the ros loop rate when you want read the serial data(when you use the slave_uwb node). If you use the modified nlink uwb node, you can ignore this ros loop rate requirements.

serial

sudo apt-get install ros-kinetic-serial

modify serial rule

cd slave_driver/nlink
sudo sh uwb_serial.sh

Configure ros network and environment parameter

Before run the launch file, you should allocate the "SlaveID"(Slave01 Slave02 ...) for this slave robot(in .zshrc or .bashrc)

template:

echo "export ROS_MASTER_URI=http://master_ip:11311" >> ~/.zshrc
echo "export ROS_HOSTNAME=localhost_ip" >> ~/.zshrc
echo "export ROS_IP=localhost_ip" >> ~/.zshrc
echo "export NAME_SPACE=agentID" >> ~/.zshrc

source ~/.zshrc

example:

• In .zshrc or .bashrc:

  • export ROS_MASTER_URI=http://192.168.0.111:11311
  • export ROS_HOSTNAME=192.168.0.114
  • export ROS_IP=192.168.0.114
  • export NAME_SPACE=agent7

Build

cd ~/catkin_ws catkin_build

If you do not need certain package, you can use catkin_make -DCATKIN_BLACKLIST_PACKAGES="floder" to ignore.

example: catkin_make -DCATKIN_BLACKLIST_PACKAGES="slave_vo"

Run

Run the launch file in each slave robot to launch each turtlebot

roslaunch slave_bringup multi_minimal.launch

with UWB

roslaunch slave_bringup multi_minimal_uwb.launch

PowerBoot:

You can skip the configure, build and run parts, simply add the auto_bringup.sh to the startup application by

gnome-terminal -x /home/turtlebot/catkin_ws/src/slave_multirobot/slave_bringup/auto_bringup/auto_bringup.sh 'my_inc01'
sudo updatedb

Then, when the robot startup, it will automatically pull the latest code, build it and run the launch file.

Authors

Han - Han
Chen - Chen

License

This project is licensed under the MIT License