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SMA_TurtleBot3_Leader-Follower

This repo contains the code for a project on using TurtleBot3 for a leader-follower navigation system. This repo was used as lab practical in MIAR.

Launch 3 turtlebots and operate them independently.

(1) Install prerequisites:

$ cd ~/catkin_ws/src
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_applications.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_applications_msgs.git
$ cd .. && catkin_make
$ source devel/setup.bash
$ cd src/

(2) Download the package.

$ cd ~/catkin_ws/src
$ git clone https://github.com/azezezaaa/SMA_TurtleBot3_Leader-Follower

(3) Update the modified content:

$ chmod +x ~/catkin_ws/src/SMA_TurtleBot3_Leader-Follower/script/sma_fleet.py
$ cd ~/catkin_ws && catkin_make && source devel/setup.bash
$ rospack profile

(4) Launch turtlebots simulation:

$ roslaunch SMA_TurtleBot3_Individual-Navigation simulation.launch

(5) Run Teleoperation:

Open another terminal and write:

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

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sma_turtlebot3_leader-follower's Issues

Using the package with RVIZ

I want to use the package with rviz for path planning, but I can't seem to make it work. The system can only read one bot at a time and I can't change the map file when launching. I want to make it so that the bots work with the 2d end position feature in rviz to make the bots move autonomously. Thanks in advance:)

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