Readme.md

Barista robot for SwarmBot Simulation

Mapping the environment

Use only one robot to map the area and one need to do it only once.

ros2 launch barista_gazebo main_one_robots.launch.xml

ros2 launch cartographer_slam cartographer.launch.py

ros2 run teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=barista_1/cmd_vel

Save maps after creating maps using cartographer_slam

ros2 run nav2_map_server map_saver_cli -f empty_room

1. Bringup the multirobot simulation, Localization and Pathplanning

ros2 launch multirobot_bringup multirobot_bringup.launch.xml

2. Send pallet pose from rviz2

ros2 run multirobot_navigation compute_pallet_pose

Run the launch files 1 and 2 only for development

3. Single command to bringup entire simulation

ros2 launch multirobot_bringup simulation_bringup.launch.xml