Multi Turtlebot3 Gazebo Simulation with Prepared Launch File

This content provides details about a multi Turtlebot3 simulation in Gazebo, including a prepared launch file for setting up multiple Turtlebot3 robots in a simulated environment. It covers the configuration of robots, their positions, and necessary launch parameters. The content also includes specific launch instructions and images to aid in the setup process.

• Simulation
• Turtlebot3
• Gazebo
• Robotics
• Launch File

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1. Multi Turtlebot3 Gazebo Simulation 26001700935 Hitomi Ohmae EPBL-5 May 31st, 2019

2. Prepared launch file in turtlebot3_gazebo package $ export TURTLEBOT3_MODEL=waffle_pi $ roslaunch turtlebot3_gazebo multi_turtlebot3.launch

4. multi_turtlebot3.launch <launch> <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/> <arg name="first_tb3" default="tb3_0"/> <arg name="second_tb3" default="tb3_1"/> <arg name="third_tb3" default="tb3_2"/> <arg name="first_tb3_x_pos" default="-7.0"/> <arg name="first_tb3_y_pos" default="-1.0"/> <arg name="first_tb3_z_pos" default=" 0.0"/> <arg name="first_tb3_yaw" default=" 1.57"/> <arg name="second_tb3_x_pos" default=" 7.0"/> <arg name="second_tb3_y_pos" default="-1.0"/> <arg name="second_tb3_z_pos" default=" 0.0"/> <arg name="second_tb3_yaw" default=" 1.57"/> <arg name="third_tb3_x_pos" default=" 0.5"/> <arg name="third_tb3_y_pos" default=" 3.0"/> <arg name="third_tb3_z_pos" default=" 0.0"/> <arg name="third_tb3_yaw" default=" 0.0"/>

5. <include file="$(find gazebo_ros)/launch/empty_world.launch"> <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_house.world"/> <arg name="paused" value="false"/> <arg name="use_sim_time" value="true"/> <arg name="gui" value="true"/> <arg name="headless" value="false"/> <arg name="debug" value="false"/> </include> <group ns = "$(arg first_tb3)"> <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" /> <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"> <param name="publish_frequency" type="double" value="50.0" /> <param name="tf_prefix" value="$(arg first_tb3)" /> </node> <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg first_tb3) -x $(arg first_tb3_x_pos) -y $(arg first_tb3_y_pos) -z $(arg first_tb3_z_pos) -Y $(arg first_tb3_yaw) -param robot_description" /> </group> </launch>

6. 1. Changing the Environment 2. Adding new model

8. <launch> <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/> <arg name="tb3" default="tb3_0"/> <arg name="tb3_x_pos" default="-1.0"/> <arg name="tb3_y_pos" default="-1.0"/> <arg name="tb3_z_pos" default=" 0.0"/> <arg name="name" default="quadrotor"/> <arg name="model2" default="$(find hector_quadrotor_description)/urdf/quadrotor.gazebo.xacro"/> <arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/> <arg name="world_frame" default="/world"/> <arg name="base_link_frame" default="$(arg tf_prefix)/base_link"/> <arg name="x" default="1.0"/> <arg name="y" default="1.0"/> <arg name="z" default="0.3"/> <include file="$(find gazebo_ros)/launch/empty_world.launch"> <arg name="world_name" value="$(find multi_robot)/worlds/original.world"/> <arg name="paused" value="false"/> <arg name="use_sim_time" value="true"/> <arg name="gui" value="true"/> <arg name="headless" value="false"/> <arg name="debug" value="false"/> </include> <group ns = "$(arg tb3)"> <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" /> <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"> <param name="publish_frequency" type="double" value="50.0" /> <param name="tf_prefix" value="$(arg tb3)" /> </node> <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg tb3) -x $(arg tb3_x_pos) -y $(arg tb3_y_pos) -z $(arg tb3_z_pos) -param robot_description" /> </group> <group ns = "$(arg name)"> <param name="robot_description" command="$(find xacro)/xacro '$(arg model2)' base_link_frame:=$(arg base_link_frame) world_frame:=$(arg world_frame)" /> <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"> <param name="publish_frequency" type="double" value="50.0" /> <param name="tf_prefix" value="$(arg name)" /> </node> <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg name) -x $(arg x) -y $(arg y) -z $(arg z) -param robot_description" /> </group> </launch>

9. Initial Setting <launch> <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/> <arg name="tb3" default="tb3_0"/> <arg name="tb3_x_pos" default="-1.0"/> <arg name="tb3_y_pos" default="-1.0"/> <arg name="tb3_z_pos" default=" 0.0"/> <arg name="name" default="quadrotor"/> <arg name="model2" default="$(find hector_quadrotor_description)/urdf/quadrotor.gazebo.xacro"/> <arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/> <arg name="world_frame" default="/world"/> <arg name="base_link_frame" default="$(arg tf_prefix)/base_link"/> <arg name="x" default="1.0"/> <arg name="y" default="1.0"/> <arg name="z" default="0.3"/>

10. Environment Setting <include file="$(find gazebo_ros)/launch/empty_world.launch"> <arg name="world_name" value="$(find multi_robot)/worlds/original.world"/> <arg name="paused" value="false"/> <arg name="use_sim_time" value="true"/> <arg name="gui" value="true"/> <arg name="headless" value="false"/> <arg name="debug" value="false"/> </include>

11. Turtlebot Setting <group ns = "$(arg tb3)"> <param name="robot_description" command="$(find xacro)/xacro -- inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" /> <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"> <param name="publish_frequency" type="double" value="50.0" /> <param name="tf_prefix" value="$(arg tb3)" /> </node> <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg tb3) -x $(arg tb3_x_pos) -y $(arg tb3_y_pos) -z $(arg tb3_z_pos) -param robot_description" /> </group>

12. Drone Setting <group ns = "$(arg name)"> <param name="robot_description" command="$(find xacro)/xacro '$(arg model2)' base_link_frame:=$(arg base_link_frame) world_frame:=$(arg world_frame)" /> <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"> <param name="publish_frequency" type="double" value="50.0" /> <param name="tf_prefix" value="$(arg name)" /> </node> <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg name) -x $(arg x) -y $(arg y) -z $(arg z) -param robot_description" /> </group> </launch>