Multiple-Husky

Repository contains multiple husky simulation and navigation in ros melodic(completed) and ros noetic(in progress)

Note

The robot state publisher of noetic as of now doesnot support tf prefix hence I have used the work done by https://github.com/rhaschke/robot_state_publisher.git
The repository assumes that you have all the dependency pacakges like robot_localization,twist_mux,interactive_marker_twist_server,unique_identifier and so on installed properly.

Create workspace and git clone the repository

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/surajmahangade/Multiple-Husky.git
git checkout noetic
cd ..

You can clone the repositories of rosbo_localization,twist whichever not installed,like.

git clone https://github.com/cra-ros-pkg/robot_localization.git

Checkout the right branch

git checkout noetic-devel

catkin make

cd ~/catkin_ws
catkin_make

Install the changes so that we make sure we use our version of robot state publisher

catkin_make install

source and launch

source devel/setup.bash
roslaunch aws_robomaker_small_warehouse_world multihusky.launch