Add support for multi-robot nav2 simulation #1058
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orduno
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| @@ -34,7 +34,8 @@ DwbController::DwbController() | |||
| RCLCPP_INFO(get_logger(), "Creating"); | |||
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| // The costmap node is used in the implementation of the DWB controller | |||
| costmap_ros_ = std::make_shared<nav2_costmap_2d::Costmap2DROS>("local_costmap"); | |||
| costmap_ros_ = std::make_shared<nav2_costmap_2d::Costmap2DROS>( | |||
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The local namespace + name seems to be the same, is that something you expect to be true for the costmaps? Maybe we can reduce this to a single parameter?
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Yes, we could just pass one argument for both and keep the current namespacing:
Robot1/global_costmap/global_costmap
Robot1/local_costmap/local_costmap
However, I'm thinking that probably better naming could be:
Robot1/dwb/costmap
Robot2/world_model/costmap
In which case the local namespace and node's name are now different.
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However, namespacing the costmaps differently is not a change I'm planning to do now.
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I think that might be a pain if you want to do something like having another server subbed to the costmap to run some calculation, since then the costmap will depend on the controller type. I just think its nicer to have the first version, but I don't have a strong opinion either way
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Multi-robot bring-up is currently broken; I'm in the middle to rebasing against Eloquent and Nav2/Master. This branch is on a working state if built against Dashing. |
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Submitted issue ros2/launch#325 and proposed fix preventing from executing |
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Submitted issue ros2/rviz#442 and found fix preventing from namespacing RVIZ and remapping topics. |
Codecov Report
@@ Coverage Diff @@
## master #1058 +/- ##
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+ Coverage 28.8% 35.43% +6.62%
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Files 241 241
Lines 11201 11205 +4
Branches 3689 4382 +693
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+ Hits 3227 3970 +743
+ Misses 5681 4495 -1186
- Partials 2293 2740 +447
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orduno
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on a file. Passing an rviz config file with topics nav2_namespaced according to the robot's name.
Updated launch file to launch RVIZ as node
Using the new nav2_common.Node in launch files to avoid duplicated definition of Node (one with remappings and a second without) Cleaning up import definitions
orduno
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PR is too big to review, closing in favor of stacked PRs. |
Basic Info
Description of contribution in a few bullet points
Enabling multiple robots running nav2 in simulation. It's not ready for prime time, the purpose is to provide interested parties a glance into the work done so far.
The branch should be built against ROS2 master:
Once the tasks mentioned below are completed, I will create ~3 PRs to merge the work and get more detailed feedback.
For a video, click the image below.
Work-in-progress
To do before submitting the work for review:
nav2_simulation_launch.py.spawn_turtlebot3tonav2_bringuplaunch_ros.actions.Nodeto conditionalize remappings -- remappings are only applied when launching multiple robots.Future work
To do after the initial solution is merged:
/map&/cmd_velto relative namespacesRobotsLayerinCostmap2Dto avoid bumping into each other.PushNodeRemappingaction. upstream ticket to prevent defining remaps without context.