This project involves simulating multiple robots in a ROS2-Gazebo environment using custom URDF-XACRO files. Two robots are spawned into the simulation, each defined through modular robot descriptions for easy scalability and configuration. The system establishes proper TF (transform) linking between the robots to maintain accurate spatial relationships within the environment.
A simple PID control script is implemented to enable one robot to chase the other in real time, demonstrating inter-robot coordination and dynamic behavior within the simulated world. The project highlights essential concepts of multi-robot simulation, TF management, and autonomous interaction using ROS2 and Gazebo.
Follow the steps below to launch the multi-robot simulation and control the robots:
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Start the Gazebo simulation and spawn the robots:
ros2 launch barista_robot_description barista_two_robots.launch.py
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Run the chasing script:
ros2 run robot_chase robot_chase
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Control the runner robot manually using the keyboard:
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/morty/cmd_vel