Instructions

This case study should work on ROS Melodic

Dependencies

apt-get install ros-melodic-move-base ros-melodic-turtlebot3 ros-melodic-turtlebot3-description ros-melodic-map-server ros-melodic-amcl ros-melodic-dwa-local-planner

Installation

• Copy the directories "multiple_robots", "myWorlds", "navigation_with_objective" under the ROS hierarchy under ~/catkin_ws/src
• Copy the directory "configurationFiles" to your home directory.
• Next run "catkin_make" in "~/catkin_ws"

Username setting

Some launch/configuration files may contain the usernames "ubuntu" or "osboxes" which should be replaced with your username. In particular, the ".py" files under ~/catkin_ws/src/navigation_with_objective

And the launch file multiple_robots/launch/mutli_burgersCorridor.launch contains the path for whiteCorridorV2.world in which the username must be set

catkin_ws/src/maps/mapWhiteCorridorV2.yaml has the "image" path that has to be set

In map_navigation_corridor_white.py here is a path in readRoomsFile that needs the username set:

And two in map_navigation_corridor_white_autostart.py - lines 413 and 521

Manul startup

First run "export TURTLEBOT3_MODEL=burger"

1. roslaunch multiple_robots multi_burgersCorridor.launch

2. rviz -d /home/$USER/catkin_ws/src/multiple_robots/rviz/turtlebot3_navigationDos.rviz

For each robot tb3_xxx (replace xxx with robot IDs 0, 1 and 2)

3. ROS_NAMESPACE=tb3_xxx roslaunch navigation_with_objective coordinates.launch
4. ROS_NAMESPACE=tb3_xxx roslaunch navigation_with_objective StartGoalMonitor.launch

Automatic startup

To launch the case study automatically:

./scripts/auto_launch_healthcare.sh

To terminate it:

./scrits/terminate.sh