Multiple Turtlebot3 robot support in Gazebo

The ROS2 project scalable solution for launching multiple TurtleBot3 robots with navigation capabilities using the Navigation2 (Nav2) stack. By leveraging namespaces in ROS2, this project enables the seamless deployment of multiple TurtleBot3 robots in a simple and organized manner. Each robot instance can be differentiated by its unique namespace, ensuring independence and preventing naming conflicts.

This implementation is running on the humble framework. This project is inspired from Arshad Mehmood, you can find his blog to understand more abot project

Run without nav2 stack

Guide: https://medium.com/@arshad.mehmood/efficient-deployment-and-operation-of-multiple-turtlebot3-robots-in-gazebos-f72f6a364620

ros2 launch turtlebot3_multi_robot gazebo_multi_world.launch.py enable_drive:=True

turtlebot3_multi_robot

Run with nav2 stack

Guide: https://medium.com/@arshad.mehmood/a-guide-to-multi-robot-navigation-utilizing-turtlebot3-and-nav2-cd24f96d19c6

Robot Configuration

The arrangement of robots is configured in gazebo_multi_nav2_world.launch.py launch file. A potential future enhancement could involve retrieving the configurations from a file, such as json.

Names and poses for the robots in nav2 example

 robots = [
 {'name': 'tb1', 'x_pose': '-1.5', 'y_pose': '-0.5', 'z_pose': 0.01},
 {'name': 'tb2', 'x_pose': '-1.5', 'y_pose': '0.5', 'z_pose': 0.01},
 {'name': 'tb3', 'x_pose': '1.5', 'y_pose': '-0.5', 'z_pose': 0.01},
 {'name': 'tb4', 'x_pose': '1.5', 'y_pose': '0.5', 'z_pose': 0.01},
 # …
 # …
 ]

ros2 launch turtlebot3_multi_robot gazebo_multi_nav2_world.launch.py enable_drive:=True  use_sim_time:=True

Rviz2 output for first robot

Rviz2 output for all 4 robots