This repository provides an implementation of multi-robot mapping, implemented for the L310 Multi-Robot Systems.
The implementation considers the different scenarios:
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Centralised and decentralised mapping server. When decentralised, communication of maps between robots can only happen when they are close to one another.
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Known and unknown initial positions in global map. When the initial position is unknown ORB feature detection with a perspective transform is used to estimate the transformation between individual robot coordinate systems.
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Ubuntu 18.04
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ROS Melodic
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Gazebo v9.0
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RViz v1.13.1
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Python 3.6.5
Launch envrionments:
roslaunch multi_robot main.launch
Run navigation:
roslaunch multi_robot launch_slam.launch