从零实现多机器人协同建图

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于 2025-06-23 11:22:39 发布

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分类专栏： Gazebo仿真自主导航 SQL 文章标签：机器人

本文链接：https://blog.csdn.net/suoxd123/article/details/148555794

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1. 配置软件包

# 安装多机融合包及其它依赖包
sudo apt install ros-noetic-multirobot-map-merge ros-noetic-turtlebot3
# 创建新项目
cd ~/catkin_ws/src
catkin_create_pkg multi_robot rospy
cd multi_robot
mkdir launch
touch launch/robots_map.launch
mkdir config
touch config/multi_robot.rviz

在这里插入图片描述

2. 准备启动文件

2.1 编辑 robots_map.launch

为不同的机器人设置不同的命名空间，在各自的命名空间内，为各机器人配置仿真环境的初始位置后启动各自的建图（Gmapping）节点，最后通过新安装的multirobot_map_merge进行数据融合，在rviz中查看实时效果。

map_merged (静态) -> robotX/map (由gmapping发布的map->odom变换) -> robotX/odom (静态) -> robotX/base_footprint -> … -> base_scan

静态static_transform_publisher：launch发布world到map_merged的变换
静态static_transform_publisher：launch发布map_merged到robotX/map的变换
动态slam_gmapping：自动发布robotX/map→robotX/odom的变换
动态Gazebo插件：自动发布odom→base_footprint的动态变换
静态robot_state_publisher：launch发布base_footprint到base_link，以及base_link到其他各传感器连杆的变换

<launch>
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="first_tb3"  default="tb3_0"/>
  <arg name="second_tb3" default="tb3_1"/>
  <arg name="third_tb3"  default="tb3_2"/>

  <arg name="first_tb3_x_pos" default="-7.0"/>
  <arg name="first_tb3_y_pos" default="-1.0"/>
  <arg name="first_tb3_z_pos" default=" 0.0"/>
  <arg name="first_tb3_yaw"   default=" 1.57"/>

  <arg name="second_tb3_x_pos" default=" 7.0"/>
  <arg name="second_tb3_y_pos" default="-1.0"/>
  <arg name="second_tb3_z_pos" default=" 0.0"/>
  <arg name="second_tb3_yaw"   default=" 1.57"/>

  <arg name="third_tb3_x_pos" default=" 0.5"/>
  <arg name="third_tb3_y_pos" default=" 3.0"/>
  <arg name="third_tb3_z_pos" default=" 0.0"/>
  <arg name="third_tb3_yaw"   default=" 0.0"/>

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_house.world"/>
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>
  </include>  

  <group ns = "$(arg first_tb3)">
    <arg name="robot_name" default="$(arg first_tb3)"/>
    <arg name="tf_prefix" value="$(arg robot_name)"/>
    <param name="robot_description" command="$(find xacro)/xacro $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro  tf_prefix:=$(arg robot_name)" />
    <rosparam>
        map_merge/init_pose_x: -7.0
        map_merge/init_pose_y: -1.0
        map_merge/init_pose_z: 0.0
        map_merge/init_pose_yaw: 1.57
    </rosparam>

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
      <param name="publish_frequency" type="double" value="50.0" />
      <param name="tf_prefix" value="$(arg first_tb3)" />
    </node>
    
    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg first_tb3) -x $(arg first_tb3_x_pos) -y $(arg first_tb3_y_pos) -z $(arg first_tb3_z_pos) -Y $(arg first_tb3_yaw) -param robot_description" />
  
    <!-- TF 变换：从融合地图到机器人局部地图 -->
    <node pkg="tf" type="static_transform_publisher" name="map_merged_to_robot1_map"
          args="$0 0 0 0 0 0 map_merged $(arg tf_prefix)/map 100" /> 

    <!-- 启动SLAM -->       
    <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">
        <param name="base_frame" value="$(arg tf_prefix)/base_footprint"/>
        <param name="odom_frame" value="$(arg tf_prefix)/odom"/>
        <param name="map_frame" value="$(arg tf_prefix)/map"/>
        <param name="use_sim_time" value="true"/>
        <param name="delta" value="0.05"/>
        <param name="pub_map_odom_transform" value="false"/>
        <param name="tf_delay" value="0.05"/>
        <param name="tf_broadcast" value="true"/>
        <param name="transform_publish_period" value="0.05"/>
        <remap from="scan" to="/$(arg tf_prefix)/scan"/>
    </node>
  </group>

  <group ns = "$(arg second_tb3)">
    <arg name="robot_name" default="$(arg second_tb3)"/>
    <arg name="tf_prefix" value="$(arg robot_name)"/>
    <param name="robot_description" command="$(find xacro)/xacro $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro  tf_prefix:=$(arg robot_name)" />
    <rosparam>
        map_merge/init_pose_x: 7.0
        map_merge/init_pose_y: -1.0
        map_merge/init_pose_z: 0.0
        map_merge/init_pose_yaw: 1.57
    </rosparam>

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
      <param name="publish_frequency" type="double" value="50.0" />
      <param name="tf_prefix" value="$(arg second_tb3)" />
    </node>

    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg second_tb3) -x $(arg second_tb3_x_pos) -y $(arg second_tb3_y_pos) -z $(arg second_tb3_z_pos) -Y $(arg second_tb3_yaw) -param robot_description" />
  
    <!-- TF 变换：从融合地图到机器人局部地图 -->
    <node pkg="tf" type="static_transform_publisher" name="map_merged_to_robot2_map"
          args="$0 0 0 0 0 0 map_merged $(arg tf_prefix)/map 100" /> 
        
    <!-- 启动SLAM -->       
    <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">
        <param name="base_frame" value="$(arg tf_prefix)/base_footprint"/>
        <param name="odom_frame" value="$(arg tf_prefix)/odom"/>
        <param name="map_frame" value="$(arg tf_prefix)/map"/>
        <param name="use_sim_time" value="true"/>
        <param name="delta" value="0.05"/>
        <param name="pub_map_odom_transform" value="false"/>
        <param name="tf_delay" value="0.05"/>
        <param name="tf_broadcast" value="true"/>
        <param name="transform_publish_period" value="0.05"/>
        <remap from="scan" to="/$(arg tf_prefix)/scan"/>
    </node>
  </group>

  <group ns = "$(arg third_tb3)">
    <arg name="robot_name" default="$(arg third_tb3)"/>
    <arg name="tf_prefix" value="$(arg robot_name)"/>
    <param name="robot_description" command="$(find xacro)/xacro $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro  tf_prefix:=$(arg robot_name)" />
    <rosparam>
        map_merge/init_pose_x: 0.5
        map_merge/init_pose_y: 3.0
        map_merge/init_pose_z: 0.0
        map_merge/init_pose_yaw: 0.0
    </rosparam>

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
      <param name="publish_frequency" type="double" value="50.0" />
      <param name="tf_prefix" value="$(arg third_tb3)" />
    </node>

    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg third_tb3) -x $(arg third_tb3_x_pos) -y $(arg third_tb3_y_pos) -z $(arg third_tb3_z_pos) -Y $(arg third_tb3_yaw) -param robot_description" />
        
    <!-- TF 变换：从融合地图到机器人局部地图 -->
    <node pkg="tf" type="static_transform_publisher" name="map_merged_to_robot3_map"
          args="$0 0 0 0 0 0 map_merged $(arg tf_prefix)/map 100" />  
    
    
    <!-- 启动SLAM -->       
    <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">
        <param name="base_frame" value="$(arg tf_prefix)/base_footprint"/>
        <param name="odom_frame" value="$(arg tf_prefix)/odom"/>
        <param name="map_frame" value="$(arg tf_prefix)/map"/>
        <param name="use_sim_time" value="true"/>
        <param name="delta" value="0.05"/>
        <param name="pub_map_odom_transform" value="false"/>
        <param name="tf_delay" value="0.05"/>
        <param name="tf_broadcast" value="true"/>
        <param name="transform_publish_period" value="0.05"/>
        <remap from="scan" to="/$(arg tf_prefix)/scan"/>
    </node>
  </group>

    <node pkg="tf" type="static_transform_publisher" name="world_to_map_merged"  args="0 0 0 0 0 0 world map_merged 100" />

    <!-- 启动地图融合 -->
    <node pkg="multirobot_map_merge" type="map_merge" name="map_merge" output="screen">
        <param name="known_init_poses" value="true"/>
        <param name="world_frame" value="map_merged"/>
        <param name="merging_rate" value="2.0"/>
        <param name="discovery_rate" value="0.1"/>
        <param name="estimation_confidence" value="0.9"/>
        <param name="robot_names" value="$(arg first_tb3),$(arg second_tb3),$(arg third_tb3)"/> 
        <param name="robot_map_topics" value="/$(arg first_tb3)/map,/$(arg second_tb3)/map,/$(arg third_tb3)/map"/> 
        <param name="map_output_topic" value="/map_merged"/>
    </node>

    <!-- 启动RViz -->
    <node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find multi_robot)/config/multi_robot.rviz"/> 

</launch>

2.2 配置Rviz节点（multi_robot.rviz）

Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Robot11
        - /TF1/Tree1
        - /Map11
        - /Map11/Status1
      Splitter Ratio: 0.5111111402511597
    Tree Height: 1195
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Name: Time
    SyncMode: 0
    SyncSource: LaserScan1
Preferences:
  PromptSaveOnExit: true
Toolbars:
  toolButtonStyle: 2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.029999999329447746
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 100
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        base_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        base_scan:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        camera_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        camera_rgb_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_rgb_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        caster_back_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        caster_back_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        wheel_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: Robot1
      Robot Description: tb3_0/robot_description
      TF Prefix: tb3_0
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        base_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        base_scan:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        camera_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        camera_rgb_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_rgb_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        caster_back_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        caster_back_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        wheel_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: Robot2
      Robot Description: tb3_1/robot_description
      TF Prefix: tb3_1
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        base_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        base_scan:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        camera_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        camera_rgb_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_rgb_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        caster_back_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        caster_back_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        wheel_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: Robot3
      Robot Description: tb3_2/robot_description
      TF Prefix: tb3_2
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Class: rviz/TF
      Enabled: true
      Filter (blacklist): ""
      Filter (whitelist): ""
      Frame Timeout: 15
      Frames:
        All Enabled: false
        map_merged:
          Value: true
        tb3_0/base_footprint:
          Value: true
        tb3_0/base_link:
          Value: true
        tb3_0/base_scan:
          Value: true
        tb3_0/camera_link:
          Value: true
        tb3_0/camera_rgb_frame:
          Value: true
        tb3_0/camera_rgb_optical_frame:
          Value: true
        tb3_0/caster_back_left_link:
          Value: true
        tb3_0/caster_back_right_link:
          Value: true
        tb3_0/imu_link:
          Value: true
        tb3_0/map:
          Value: true
        tb3_0/odom:
          Value: true
        tb3_0/wheel_left_link:
          Value: true
        tb3_0/wheel_right_link:
          Value: true
        tb3_1/base_footprint:
          Value: true
        tb3_1/base_link:
          Value: true
        tb3_1/base_scan:
          Value: true
        tb3_1/camera_link:
          Value: true
        tb3_1/camera_rgb_frame:
          Value: true
        tb3_1/camera_rgb_optical_frame:
          Value: true
        tb3_1/caster_back_left_link:
          Value: true
        tb3_1/caster_back_right_link:
          Value: true
        tb3_1/imu_link:
          Value: true
        tb3_1/map:
          Value: true
        tb3_1/odom:
          Value: true
        tb3_1/wheel_left_link:
          Value: true
        tb3_1/wheel_right_link:
          Value: true
        tb3_2/base_footprint:
          Value: true
        tb3_2/base_link:
          Value: true
        tb3_2/base_scan:
          Value: true
        tb3_2/camera_link:
          Value: true
        tb3_2/camera_rgb_frame:
          Value: true
        tb3_2/camera_rgb_optical_frame:
          Value: true
        tb3_2/caster_back_left_link:
          Value: true
        tb3_2/caster_back_right_link:
          Value: true
        tb3_2/imu_link:
          Value: true
        tb3_2/map:
          Value: true
        tb3_2/odom:
          Value: true
        tb3_2/wheel_left_link:
          Value: true
        tb3_2/wheel_right_link:
          Value: true
        world:
          Value: true
      Marker Alpha: 1
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        world:
          map_merged:
            tb3_0/map:
              tb3_0/odom:
                tb3_0/base_footprint:
                  tb3_0/base_link:
                    tb3_0/base_scan:
                      {}
                    tb3_0/camera_link:
                      tb3_0/camera_rgb_frame:
                        tb3_0/camera_rgb_optical_frame:
                          {}
                    tb3_0/caster_back_left_link:
                      {}
                    tb3_0/caster_back_right_link:
                      {}
                    tb3_0/imu_link:
                      {}
                    tb3_0/wheel_left_link:
                      {}
                    tb3_0/wheel_right_link:
                      {}
            tb3_1/map:
              tb3_1/odom:
                tb3_1/base_footprint:
                  tb3_1/base_link:
                    tb3_1/base_scan:
                      {}
                    tb3_1/camera_link:
                      tb3_1/camera_rgb_frame:
                        tb3_1/camera_rgb_optical_frame:
                          {}
                    tb3_1/caster_back_left_link:
                      {}
                    tb3_1/caster_back_right_link:
                      {}
                    tb3_1/imu_link:
                      {}
                    tb3_1/wheel_left_link:
                      {}
                    tb3_1/wheel_right_link:
                      {}
            tb3_2/map:
              tb3_2/odom:
                tb3_2/base_footprint:
                  tb3_2/base_link:
                    tb3_2/base_scan:
                      {}
                    tb3_2/camera_link:
                      tb3_2/camera_rgb_frame:
                        tb3_2/camera_rgb_optical_frame:
                          {}
                    tb3_2/caster_back_left_link:
                      {}
                    tb3_2/caster_back_right_link:
                      {}
                    tb3_2/imu_link:
                      {}
                    tb3_2/wheel_left_link:
                      {}
                    tb3_2/wheel_right_link:
                      {}
      Update Interval: 0
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/LaserScan
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: LaserScan1
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Flat Squares
      Topic: /tb3_0/scan
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/LaserScan
      Color: 0; 255; 0
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: LaserScan2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.030000001192092896
      Style: Flat Squares
      Topic: tb3_1/scan
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/LaserScan
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: LaserScan3
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Flat Squares
      Topic: /tb3_2/scan
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: rviz/Image
      Enabled: false
      Image Topic: /raspicam_node/image
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: compressed
      Unreliable: false
      Value: false
    - Alpha: 0.699999988079071
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map1
      Topic: /tb3_0/map
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 0.699999988079071
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map2
      Topic: /tb3_1/map
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 0.699999988079071
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map3
      Topic: /tb3_2/map
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 1
      Class: rviz/Axes
      Enabled: false
      Length: 1
      Name: World Axes
      Radius: 0.10000000149011612
      Reference Frame: map_merged
      Show Trail: false
      Value: false
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: map_merged
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Theta std deviation: 0.2617993950843811
      Topic: /initialpose
      X std deviation: 0.5
      Y std deviation: 0.5
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Angle: -1.6607967615127563
      Class: rviz/TopDownOrtho
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Scale: 82.56507110595703
      Target Frame: map
      X: 0.07265345752239227
      Y: 0.513627827167511
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1492
  Hide Left Dock: false
  Hide Right Dock: true
  Image:
    collapsed: false
  QMainWindow State: 000000ff00000000fd0000000400000000000001bd00000536fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000536000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065000000020f000001900000001600ffffff000000010000010f0000035cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000430000035c000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005790000003efc0100000002fb0000000800540069006d0065010000000000000579000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003b60000053600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1401
  X: 1473
  Y: 27

2.3 项目编译

cd ~/catkin_ws
catkin_make --pkg multi_robot 
source devel/setup.bash

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3. 启动协同建图

# 终端1：启动主系统
roslaunch multi_robot robots_map.launch
# 终端2：机器人1控制端
ROS_NAMESPACE=tb3_0 rosrun turtlebot3_teleop turtlebot3_teleop_key
# 终端3：机器人2控制端
ROS_NAMESPACE=tb3_1 rosrun turtlebot3_teleop turtlebot3_teleop_key
# 终端4：机器人3控制端
ROS_NAMESPACE=tb3_2 rosrun turtlebot3_teleop turtlebot3_teleop_key

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4. 保存融合地图

# 保存地图
rosrun map_server map_saver -f ~/merged_map

# 查看地图话题
rostopic info /map
# 查看融合节点
rosnode info /map_merge

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