Multiple Robots Project

Welcome to the Multiple Robots project!

Table of Contents

• Robots
• Description
• Installation
• Usage

Robots

This project involves the use of three robots:

• Robot 1
• Robot 2
• Robot 3

Each of these robots is equipped with a two-wheel drive system and Lidar (Light Detection and Ranging) for sensing.

Description

These autonomous mobile robots are built using the URDF (Unified Robot Description Format) and are designed for mapping and navigation in a simulated environment using Gazebo. Here are the key components and functionalities:

• Mapping: The project utilizes the gmapping package to perform laser-based SLAM (Simultaneous Localization and Mapping), creating a 2D occupancy grid map.

• Localization: The robots are localized within the map using the AMCL (Adaptive Monte Carlo Localization) algorithm.

• Navigation: To enable autonomous navigation, the project employs the Navigation stack, allowing the robots to move autonomously in their environments while avoiding obstacles and reaching target locations. This navigation stack utilizes the move_base package and the A* algorithm for path planning.

Installation

To use these robots, follow these installation steps:

1. Creating a workspace:

$ mkdir -p ~/multi_robot_ws/src
$ cd ~/catkin_ws/src 

2. Clone this repository to your local machine:

   git clone https://github.com/sherif1152/multiple-robots.git

3. Build the workspace:

$ cd ..
$ catkin_make

Usage

1. Run robots in gazebo :

roslaunch description_pkg robots.launch 

2. Run Nav in RVIZ

 roslaunch navigtion_pkg multi_navigation.launch