Re: Trying to achieve multiple turtlebot3 where each robot generates a map with rtab-map

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Trying-to-achieve-multiple-turtlebot3-where-each-robot-generates-a-map-with-rtab-map-tp10209p10219.html

Do you have also a rtabmap node for tb3_1? Not sure who is asking for base_footprint. Is odometry publishing from odom to base_footprint?

Otherwise, you may want to set a differnt database name for each robot. You also need to set a different map_frame_id for each robot. The "odom" frame you are using would need to be unique for each robot, like "tb3_0/odom" and "tb3_1/odom" frames.

	<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen">
		<param name="databse_path" type="string" value="~/.ros/map_tb3_0.db" />
		<param name="frame_id" type="string" value="tb3_0/base_link" />
		<param name="odom_frame_id" type="string" value="tb3_0/odom" />
		<param name="map_frame_id" type="string" value="tb3_0/map" />
		...

	</node>

cheers,
Mathieu