How to launch multiple ROS2 turtlebot3 in real world

[zitongbai]

ISSUE TEMPLATE ver. 0.4.0

1. Which TurtleBot3 platform do you use?

   • Burger
   • Waffle
   • Waffle Pi

2. Which ROS is working with TurtleBot3?

   • ROS 1 Kinetic Kame
   • ROS 1 Melodic Morenia
   • ROS 1 Noetic Ninjemys
   • ROS 2 Dashing Diademata
   • ROS 2 Eloquent Elusor
   • ROS 2 Foxy Fitzroy
   • etc (Please specify your ROS Version here)

ROS 2 Humble

3. Which SBC(Single Board Computer) is working on TurtleBot3?

   • Intel Joule 570x
   • Raspberry Pi 3B+
   • Raspberry Pi 4
   • etc (Please specify your SBC here)
     Jetson Orin nx

4. Which OS you installed on SBC?

   • Raspbian distributed by ROBOTIS
   • Ubuntu MATE (16.04/18.04/20.04)
   • Ubuntu preinstalled server (18.04/20.04)
   • etc (Please specify your OS here)

Ubuntu 22.04

5. Which OS you installed on Remote PC?

   • Ubuntu 16.04 LTS (Xenial Xerus)
   • Ubuntu 18.04 LTS (Bionic Beaver)
   • Ubuntu 20.04 LTS (Focal Fossa)
   • Windows 10
   • MAC OS X (Specify version)
   • etc (Please specify your OS here)
     Ubuntu 22.04

6. Specify the software and firmware version(Can be found from Bringup messages)

   • Software version: [x.x.x]
   • Firmware version: [x.x.x]

7. Specify the commands or instructions to reproduce the issue.

   • HERE

8. Copy and Paste the error messages on terminal.

   • HERE

9. Please describe the issue in detail.

I want to launch multiple ROS2 turtblebot3 in the same network. However their topic names, tf names, etc. would conflict with each other. I found that namespace can be used for the ROS1 version, but I cannot find a easy way to do that in the ROS2 version. Is there any convenient method to achieve this? Thanks a lot.

[krizchong]

You can also implement this with namespace in ROS2!

[GyuH13]

Hi @zitongbai
You can use namespace in ROS2, too.
Modify your package in Turtlebot SBC

$ nano ./turtlebot3_ws/src/turtlebot3/turtlebot3_bringup/launch/robot.launch.py

 $ nano ./turtlebot3_ws/src/turtlebot3/turtlebot3_bringup/launch/turtlebot3_state_publisher.launch.py 

$ nano ./turtlebot3_ws/src/turtlebot3/turtlebot3_bringup/param/burger.yaml      // burger.yaml -> your model