TurtleBot3多机建图教程-2.启动机器人

启动：

[remotePC] 启动rosore

roscore

启动第一台机器人

ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb3_0" set_lidar_frame_id:="tb3_0/base_scan"

检查

rostopic list

同理

启动第二台机器人

ROS_NAMESPACE=tb3_1 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb3_1" set_lidar_frame_id:="tb3_1/base_scan"

对于A2雷达的机器人

ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_bringup turtlebot3_core.launch multi_robot_name:="tb3_0"

ROS_NAMESPACE=tb3_0 roslaunch rplidar_ros rplidar.launch