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Update Turtlebot3
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Aug 24, 2021
by
Fabien BADEIG
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Turtlebot3.md
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@@ -165,6 +165,87 @@ Gazebo is a robotics simulation framework that allows several different robots t
## configure gazebo launch file
Deploying multiple robots in gazebo requires defining the deployment configuration with robot type, robot location, and ROS environment (NAMESPACE).
This configuration is stipulated in a launch type file. An example of launch file with 3 turtlebot3 burgers is:
```
<launch>
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="first_tb3" default="tb3_0"/>
<arg name="second_tb3" default="tb3_1"/>
<arg name="third_tb3" default="tb3_2"/>
<arg name="first_tb3_x_pos" default="-7.0"/>
<arg name="first_tb3_y_pos" default=" 0.0"/>
<arg name="first_tb3_z_pos" default=" 0.0"/>
<arg name="first_tb3_yaw" default=" 1.57"/>
<arg name="second_tb3_x_pos" default=" 0.0"/>
<arg name="second_tb3_y_pos" default=" 0.0"/>
<arg name="second_tb3_z_pos" default=" 0.0"/>
<arg name="second_tb3_yaw" default=" 1.57"/>
<arg name="third_tb3_x_pos" default=" -1.0"/>
<arg name="third_tb3_y_pos" default=" -1.0"/>
<arg name="third_tb3_z_pos" default=" 0.0"/>
<arg name="third_tb3_yaw" default=" 0.0"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find turtlebot3_gazebo)/models/turtlebot3_world/fayol-4et-1.sdf"/>
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="true"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
</include>
<group ns = "$(arg first_tb3)">
<param name="robot_description" command="$(find xacro)/xacro $(find turtlebot3_description)/urdf/turtlebot3_$(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 $(arg first_tb3_yaw) -param robot_description" />
</group>
<group ns = "$(arg second_tb3)">
<param name="robot_description" command="$(find xacro)/xacro $(find turtlebot3_description)/urdf/turtlebot3_$(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 second_tb3)" />
</node>
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg second_tb3) -x $(arg second_tb3_x_pos) -y $(arg second_tb3_y_pos) -z $(arg second_tb3_z_pos) -Y $(arg second_tb3_yaw) -param robot_description" />
</group>
<group ns = "$(arg third_tb3)">
<param name="robot_description" command="$(find xacro)/xacro $(find turtlebot3_description)/urdf/turtlebot3_$(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 third_tb3)" />
</node>
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg third_tb3) -x $(arg third_tb3_x_pos) -y $(arg third_tb3_y_pos) -z $(arg third_tb3_z_pos) -Y $(arg third_tb3_yaw) -param robot_description" />
</group>
</launch>
```
In first, we define the robot configuration:
+
the model
`<arg name="model" default="burger" doc="model type [burger, waffle, waffle_pi]"/>`
+
the namespace
`<arg name="first_tb3" default="tb3_0"/>`
+
the localization:
```
<arg name="first_tb3_x_pos" default="-7.0"/>
<arg name="first_tb3_y_pos" default=" 0.0"/>
<arg name="first_tb3_z_pos" default=" 0.0"/>
<arg name="first_tb3_yaw" default=" 1.57"/>
```
## visualize data of each robot in rviz
# Use our turtlebot3 robots
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