The purpose of this package is to simulate a group of three turtlebots 3 in a Hospital environment. This package was inspired by the tutorials from ROBOTIS for turtlebot3. Each robot has a 360° lidar, two wheels and a camera and they can be controlled using the topic /cmd_vel as any other mobile robot in ROS (REP-105).

The code in this package can be used either with simulated robots or with real robots:

The source code is released under a MIT license.

Author: Gabriel F P Araujo
Affiliation: LES
Maintainer: Gabriel F P Araujo

The turtlebot3_hospital_sim package has been tested under Ubuntu 18.04, ROS Melodic and Gazebo 9. This is a research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Clone this repository to your catkin workspace.

cd ${YOUR_WORKSPACE_PATH}/src
git clone https://github.com/Gastd/turtlebot3_hospital_sim.git
cd ../
source devel/setup.bash
catkin_make

The Simulation uses the well known Gazebo Simulator that is shipped with ROS.

• Before running the simulation, you must install the turtlebot3 packages.

  sudo apt install ros-melodic-turtlebot3-simulations ros-melodic-turtlebot3-bringup
  catkin_make

Run the simulation to test the code:

• In a terminal with your ros workspace

  roslaunch turtlebot3_hospital_sim turtles_in_a_hospital.launch
  

This will open the Gazebo with the robots in position and ready to go.

In a hospital environment, many different robots with different capabilities can be used where they can reach some goals as a team without constraints. So a team with robots with or without manipulation, with or without mobility, can be built and simulated to reach cooperative goals.

Please report bugs and request features using the Issue Tracker.