前言
前面已经实现了在gazebo仿真环境中机器人一字型编队、三角形编队、N字型编队等仿真，接下来考虑多机器人编队在编队行进过程中的避障问题，通过在RVIZ中加载多个机器人使他们能分别进行全局和局部路径规划，来进行避障。
一、Gzazebo中加载多台Turtlebot3机器人
在前面的文章中也提到过在gazebo仿真环境中加载多个机器人主要是修改启动gazebo仿真环境的launch文件。
原Turtlebot3 launch文件
<launch>
<env name="GAZEBO_RESOURCE_PATH" value="$(find turtlebot3_gazebo)/models/turtlebot3_autorace/ground_picture" />
<arg name="x_pos" default="0.245"/>
<arg name="y_pos" default="-1.787"/>
<arg name="z_pos" default="0"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_autorace.world" />
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="true"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
</include>
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_burger_for_autorace.urdf.xacro" />
<node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf" args="-urdf -model turtlebot3_burger -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />
</launch>
添加多台机器人的launch文件
<?xml version="1.0"?>
<launch>
<arg name="model" default="$(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=" 0.0"/>
<arg name="first_tb3_y_pos" default=" 0.0"/>
<arg name="first_tb3_z_pos" default=" 0.0"/>
<arg name="first_tb3_yaw" default=" 0.0"/>
<arg name="second_tb3_x_pos" default=" -1.0"/>
<arg name="second_tb3_y_pos" default=" 0.0"/>
<arg name="second_tb3_z_pos" default=" 0.0"/>
<arg name="second_tb3_yaw" default=" 0.0"/>
<arg name="third_tb3_x_pos" default=" -2.0"/>
<arg name="third_tb3_y_pos" default=" 0.0"/>
<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)/worlds/cloister.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 $(arg first_tb3_yaw) -param robot_description" />
</group>
<group ns = "$(arg second_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 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 --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 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 $(arg third_tb3_yaw) -param robot_description" />
</group>
</launch>
对比发现，修改后的launch文件增加了三个tb3的ns属性，并为其设置了初始位姿，设置了ns属性后才使得每个仿真小车发布带有对应属性的节点名称，例如/tb3_0/odom、/tb3_0/base_link、/tb3_1/odom、/tb3_1/base_link。这样能防止TF树错乱而导致的运行出错。
二、RVIZ中加载多个Turtlebot3机器人
与Gazebo中加载多个Turtlebot3机器人相比，RVIZ需要修改的内容多了些。首先修改turtlebot3_navigation.launch
原文件：
<launch>
<!-- Arguments -->
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="map_file" default="$(find turtlebot3_navigation)/maps/map.yaml"/>
<arg name="open_rviz" default="true"/>
<arg name="move_forward_only" default="false"/>
<!-- Turtlebot3 -->
<include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
<arg name="model" value="$(arg model)" />
</include>
<!-- Map server -->
<node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>
<!-- AMCL -->
<include file="$(find turtlebot3_navigation)/launch/amcl.launch"/>
<!-- move_base -->
<include file="$(find turtlebot3_navigation)/launch/move_base.launch">
<arg name="model" value="$(arg model)" />
<arg name="move_forward_only" value="$(arg move_forward_only)"/>
</include>
<!-- rviz -->
<group if="$(arg open_rviz)">
<node pkg="rviz" type="rviz" name="rviz" required="true"
args="-d $(find turtlebot3_navigation)/rviz/turtlebot3_navigation.rviz"/>
</group>
</launch>
修改后：
<launch>
<!-- Arguments -->
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="open_rviz" default="true"/>
<arg name="move_forward_only" default="false"/>
<arg name="first_tb3" default="tb3_0"/>
<arg name="second_tb3" default="tb3_1"/>
<arg name="third_tb3" default="tb3_2"/>
<!-- Map server -->
<arg name="map_file" default="$(find turtlebot3_navigation)/maps/cloister_gmapping.yaml"/>
<node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>
<group ns = "$(arg first_tb3)">
<!-- Map server -->
<node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>
<!-- Turtlebot3 -->
<include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
<arg name="model" value="$(arg model)" />
<arg name="multi_robot_name" value="$(arg first_tb3)" />
</include>
<arg name="first_tb3_x_pos" default="0.0"/>
<arg name="first_tb3_y_pos" default="0.0"/>
<arg name="first_tb3_z_pos" default="0.0"/>
<!-- AMCL -->
<include file="$(find turtlebot3_navigation)/launch/multi_amcl.launch">
<arg name="global_frame_id" value="map"/>
<arg name="odom_frame_id" value="$(arg first_tb3)/odom"/>
<arg name="base_frame_id" value="$(arg first_tb3)/base_footprint"/>
<arg name="initial_pose_x" value="$(arg first_tb3_x_pos)"/>
<arg name="initial_pose_y" value="$(arg first_tb3_y_pos)"/>
<arg name="initial_pose_a" value="$(arg first_tb3_z_pos)"/>
</include>
<!-- move_base -->
<include file="$(find turtlebot3_navigation)/launch/multi_move_base.launch">
<arg name="global_frame_id" value="map"/>
<arg name="odom_frame_id" value="$(arg first_tb3)/odom"/>
<arg name="base_frame_id" value="$(arg first_tb3)/base_footprint"/>
<arg name="odom_topic" value="/$(arg first_tb3)/odom" />
<arg name="laser_topic" value="/$(arg first_tb3)/scan" />
<arg name="cmd_vel_topic" value="/$(arg first_tb3)/cmd_vel" />
<arg name="model" value="$(arg model)" />
<arg name="move_forward_only" value="$(arg move_forward_only)"/>
</include>
</group>
<group ns = "$(arg second_tb3)">
<!-- Map server -->
<node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>
<!-- Turtlebot3 -->
<include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
<arg name="model" value="$(arg model)" />
<arg name="multi_robot_name" value="$(arg second_tb3)" />
</include>
<arg name="second_tb3_x_pos" default="-1.0"/>
<arg name="second_tb3_y_pos" default="0.0"/>
<arg name="second_tb3_z_pos" default="0.0"/>
<!-- AMCL -->
<include file="$(find turtlebot3_navigation)/launch/multi_amcl.launch">
<arg name="global_frame_id" value="map"/>
<arg name="odom_frame_id" value="$(arg second_tb3)/odom"/>
<arg name="base_frame_id" value="$(arg second_tb3)/base_footprint"/>
<arg name="initial_pose_x" value="$(arg second_tb3_x_pos)"/>
<arg name="initial_pose_y" value="$(arg second_tb3_y_pos)"/>
<arg name="initial_pose_a" value="$(arg second_tb3_z_pos)"/>
</include>
<!-- move_base -->
<include file="$(find turtlebot3_navigation)/launch/multi_move_base.launch">
<arg name="global_frame_id" value="map"/>
<arg name="odom_frame_id" value="$(arg second_tb3)/odom"/>
<arg name="base_frame_id" value="$(arg second_tb3)/base_footprint"/>
<arg name="odom_topic" value="/$(arg second_tb3)/odom" />
<arg name="laser_topic" value="/$(arg second_tb3)/scan" />
<arg name="cmd_vel_topic" value="/$(arg second_tb3)/cmd_vel" />
<arg name="model" value="$(arg model)" />
<arg name="move_forward_only" value="$(arg move_forward_only)"/>
</include>
</group>
<group ns = "$(arg third_tb3)">
<!-- Map server -->
<node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>
<!-- Turtlebot3 -->
<include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
<arg name="model" value="$(arg model)" />
<arg name="multi_robot_name" value="$(arg third_tb3)" />
</include>
<arg name="third_tb3_x_pos" default="-2.0"/>
<arg name="third_tb3_y_pos" default="0.0"/>
<arg name="third_tb3_z_pos" default="0.0"/>
<!-- AMCL -->
<include file="$(find turtlebot3_navigation)/launch/multi_amcl.launch">
<arg name="global_frame_id" value="map"/>
<arg name="odom_frame_id" value="$(arg third_tb3)/odom"/>
<arg name="base_frame_id" value="$(arg third_tb3)/base_footprint"/>
<arg name="initial_pose_x" value="$(arg third_tb3_x_pos)"/>
<arg name="initial_pose_y" value="$(arg third_tb3_y_pos)"/>
<arg name="initial_pose_a" value="$(arg third_tb3_z_pos)"/>
</include>
<!-- move_base -->
<include file="$(find turtlebot3_navigation)/launch/multi_move_base.launch">
<arg name="global_frame_id" value="map"/>
<arg name="odom_frame_id" value="$(arg third_tb3)/odom"/>
<arg name="base_frame_id" value="$(arg third_tb3)/base_footprint"/>
<arg name="odom_topic" value="/$(arg third_tb3)/odom" />
<arg name="laser_topic" value="/$(arg third_tb3)/scan" />
<arg name="cmd_vel_topic" value="/$(arg third_tb3)/cmd_vel" />
<arg name="model" value="$(arg model)" />
<arg name="move_forward_only" value="$(arg move_forward_only)"/>
</include>
</group>
<!-- rviz -->
<group if="$(arg open_rviz)">
<node pkg="rviz" type="rviz" name="rviz" required="true"
args="-d $(find turtlebot3_navigation)/rviz/turtlebot3_navWjx.rviz"/>
</group>
</launch>
turtlebot3_navigation.launch中引用的move_base.launch和amcl.launch文件也需要修改
move_base.launch
原文件：
<launch>
<!-- Arguments -->
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="cmd_vel_topic" default="/cmd_vel" />
<arg name="odom_topic" default="odom" />
<arg name="move_forward_only" default="false"/>
<!-- move_base -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
<rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
<rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
<rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" />
<rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />
<remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<param name="DWAPlannerROS/min_vel_x" value="0.0" if="$(arg move_forward_only)" />
</node>
</launch>
修改后（multi_move_base.launch）：
<launch>
<!-- Arguments -->
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="odom_frame_id" default="odom"/>
<arg name="base_frame_id" default="base_footprint"/>
<arg name="global_frame_id" default="map"/>
<arg name="cmd_vel_topic" default="/cmd_vel" />
<arg name="odom_topic" default="odom" />
<arg name="laser_topic" default="scan" />
<arg name="move_forward_only" default="false"/>
<!-- move_base -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_global_planner" value="global_planner/GlobalPlanner"/>
<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/>
<rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
<rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
<rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" />
<rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />
<!-- reset frame_id parameters using user input data -->
<param name="global_costmap/global_frame" value="$(arg global_frame_id)"/>
<param name="global_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
<param name="local_costmap/global_frame" value="$(arg odom_frame_id)"/>
<param name="local_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
<param name="global_costmap/obstacle_layer/scan/topic" value="$(arg laser_topic)"/>
<param name="local_costmap/obstacle_layer/scan/topic" value="$(arg laser_topic)"/>
<remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<remap from="scan" to="$(arg laser_topic)"/>
<param name="DWAPlanner/min_vel_x" value="0.0" if="$(arg move_forward_only)" />
</node>
</launch>
amcl.launch
原文件：
<launch>
<!-- Arguments -->
<arg name="scan_topic" default="scan"/>
<arg name="initial_pose_x" default="0.0"/>
<arg name="initial_pose_y" default="0.0"/>
<arg name="initial_pose_a" default="0.0"/>
<!-- AMCL -->
<node pkg="amcl" type="amcl" name="amcl">
<param name="min_particles" value="500"/>
<param name="max_particles" value="3000"/>
<param name="kld_err" value="0.02"/>
<param name="update_min_d" value="0.20"/>
<param name="update_min_a" value="0.20"/>
<param name="resample_interval" value="1"/>
<param name="transform_tolerance" value="0.5"/>
<param name="recovery_alpha_slow" value="0.00"/>
<param name="recovery_alpha_fast" value="0.00"/>
<param name="initial_pose_x" value="$(arg initial_pose_x)"/>
<param name="initial_pose_y" value="$(arg initial_pose_y)"/>
<param name="initial_pose_a" value="$(arg initial_pose_a)"/>
<param name="gui_publish_rate" value="50.0"/>
<remap from="scan" to="$(arg scan_topic)"/>
<param name="laser_max_range" value="3.5"/>
<param name="laser_max_beams" value="180"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="laser_model_type" value="likelihood_field"/>
<param name="odom_model_type" value="diff"/>
<param name="odom_alpha1" value="0.1"/>
<param name="odom_alpha2" value="0.1"/>
<param name="odom_alpha3" value="0.1"/>
<param name="odom_alpha4" value="0.1"/>
<param name="odom_frame_id" value="odom"/>
<param name="base_frame_id" value="base_footprint"/>
</node>
</launch>
修改后（multi_amcl.launch读入数据）：
<launch>
<!-- Arguments -->
<arg name="use_map_topic" default="true"/>
<arg name="scan_topic" default="scan"/>
<arg name="initial_pose_x" default="0.0"/>
<arg name="initial_pose_y" default="0.0"/>
<arg name="initial_pose_a" default="0.0"/>
<arg name="odom_frame_id" default="odom"/>
<arg name="base_frame_id" default="base_footprint"/>
<arg name="global_frame_id" default="map"/>
<!-- AMCL -->
<node pkg="amcl" type="amcl" name="amcl">
<param name="use_map_topic" value="$(arg use_map_topic)"/>
<param name="min_particles" value="500"/>
<param name="max_particles" value="3000"/>
<param name="kld_err" value="0.02"/>
<param name="update_min_d" value="0.20"/>
<param name="update_min_a" value="0.20"/>
<param name="resample_interval" value="1"/>
<param name="transform_tolerance" value="0.5"/>
<param name="recovery_alpha_slow" value="0.00"/>
<param name="recovery_alpha_fast" value="0.00"/>
<param name="initial_pose_x" value="$(arg initial_pose_x)"/>
<param name="initial_pose_y" value="$(arg initial_pose_y)"/>
<param name="initial_pose_a" value="$(arg initial_pose_a)"/>
<param name="gui_publish_rate" value="50.0"/>
<remap from="scan" to="$(arg scan_topic)"/>
<param name="laser_max_range" value="3.5"/>
<param name="laser_max_beams" value="180"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="laser_model_type" value="likelihood_field"/>
<param name="odom_model_type" value="diff"/>
<param name="odom_alpha1" value="0.1"/>
<param name="odom_alpha2" value="0.1"/>
<param name="odom_alpha3" value="0.1"/>
<param name="odom_alpha4" value="0.1"/>
<param name="odom_frame_id" value="$(arg odom_frame_id)"/>
<param name="base_frame_id" value="$(arg base_frame_id)"/>
<param name="global_frame_id" value="$(arg global_frame_id)"/>
</node>
</launch>
三.多机器人编队导航
多机器人编队的仿真在前面文章中叙述过：多机器人三角形编队的实现，编队的程序不需要修改，可以直接运行。
启动gazebo仿真环境(launch 自己的文件名)：
roslaunch turtlebot3_gazebo multi3_turtlebot3.launch
启动导航节点（RVIZ）
roslaunch turtlebot3_navigation turtlebot3_navigation
启动编队程序：
roslaunch turtlebot3_teams_wang turtlebot3_teams_follow_wang.launch
总结
简单总结了Turtlebot3多机器人编队仿真，在实现的过程中需要对RVIZ仿真环境进行配置，这个花费了我很长时间，后面我会专门的写一下，主要是添加多个2D nav Goal/2D pose estimate，以及导航、laser、全局路径/局部路径话题的订阅。
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