multi_rrt_exploration

This package is adapted from rrt_exploration. You could run the following command on the terminal:

$ roslaunch multi_rrt_exploration rrt_three_robots.launch

介绍

该功能包改编于GitHub上的开源项目rrt_exploration，笔者已在ROS melodic下跑通（采用三台turtlebot3机器人测试），整体来看，该项目中所使用的RRT算法扩展性与稳定性较好，在计算机算力允许的范围内，能够扩展至更多的机器人数量。

软件依赖

要在ROS melodic上成功运行该功能包并非一件容易的事，笔者花费了1周时间才将其从kinetic成功移植到melodic中，所需依赖如下：

1. 地图融合：m-explore
2. 探索插件：frontier_exploration
3. 机器人模型：turtlebot3
4. turtlebot3_msgs
5. Python库：OpenCV、Numpy、Sklearn

$ sudo apt-get install python-opencv
$ sudo apt-get install python-numpy
$ sudo apt-get install python-scikits-learn

使用说明

1. 仿真:

$ roslaunch multi_rrt_exploration rrt_three_robots.launch

2. 实物（导航）:

master: roscore
robot_0: export ROS_NAMESPACE=robot_0
robot_0: roslaunch rikirobot lidar_slam_multi.launch tf_prefix:=robot_0
robot_1: export ROS_NAMESPACE=robot_1
robot_1: roslaunch robot_navigation robot_slam_laser_multi.launch tf_prefix:=robot_1
master: roslaunch multirobot_test robots_merge.launch

3. 实物（探索）:

master: roslaunch multirobot_test robots_merge.launch
robot_: export ROS_NAMESPACE=robot_
robot_: roslaunch rikirobot lidar_slam_multi.launch tf_prefix:=robot_
master: roslaunch explore_lite explore.launch

修改说明:

1. robot_: 配置 launch文件中加入 move_base explore_robot_.launch 配置使用公共 /map 话题
2. 修改 move_base global_costmap_params.yaml 、local_costmap_params.yaml中坐标系

部分实验结果：

多机器人协同探索实验