Multiple TurtleBots in Concert
In this lesson we will learn how to launch two TurtleBots simultaneously in simulation world. We will use robotics in concert packages (a.k.a. rocon).
1. Install packages.
2. In the tutorial we will use some modifications of standard packages. Let’s create a workspace.
All packages will be situated in
src folder. It is highly recommended to
review Creating a ROS Package
and Building a ROS Package
before move on.
3. We will use a
gazebo_concert package to provide alternative parameters.
3.1 Change directory.
3.2 Clone the
3.3 Change directory.
3.4 Change git branch.
3.5 Change directory.
gazebo.parameters file. We want to launch two TurtleBot simultaneously.
It is a new
4. Build package.
4.1 Remember to source your environment setup file.
4.2 Change the directory to catkin workspace.
4.3 Use catkin_make.
Launching Gazebo Concert
1. Source setup file.
NOTE: The command changes the path only in this terminal.
2. Launch gazebo_concert.
3. Start rocon_remocon.
You will see this image:
Add. You will see ros master
You will see two TurtleBots!
Concert Teleop in
Interactions Chooser. You will see this window.
11. Select the robot in the resource list and capture it.
NOTE: You can open concert teleop for each robot and capture them.
12. You can drive robot using joystick.
13. To finish select
14. Interrupt the processes. Close the windows.
You can watch these steps in the video:
You can add new robots in simulation by editing
gazebo.parameters file in
gazebo_concert package. Read more about rocon project on