This project is a part of Master Thesis: "Decentralized Multi Robot Collaboration and Mapping" by Shreyas Gokhale.
Run
docker-compose up --build --force-recreate
This fetches all the base images, builds containers and starts 1 Simulator, 3 Robot, 1 Google Cartographer Server containers.
You can interact with the containers from VNC on follwing adresses:
| Container | IP |
|---|---|
| Gazebo Simulator | localhost:5925 |
| Cartographer Cloud | localhost:5910 |
| Robot 0 | localhost:5950 |
| Robot 1 | localhost:5951 |
| Robot 2 | localhost:5952 |
If you run the code on a VM / DigitalOcean Droplet, replace localhost with your VM IP and open corresponding ports for remote access.
Have a look at docker-compose.yaml file for more info.
You can start teleop node for turtlebot from any one of the robot contaiers to move around the robot
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change.
The basis for this architecture was Ros-Simulation project.