The multi_kobuki workspace type is an extension of the basic_kobuki type to have more than one mobile robot.
The workspace type has two or more compute nodes:
rrc0: offboard (physically outside the reachable space); x86_64 GNU/Linux box.
rrcN: each mounted onboard one of the robots; small, low-power ARM board (armv7l).
There are two webcams attached and visible from the device files
The Kobuki mobile platform and Hokuyo laser scanner are both attached via USB. In the default image, the home directory contains the roslaunch file robot.launch. This file starts a ROS Kinetic configuration for using the robot. It uses the ROS packages urg_node and kobuki_node.
on rrc2 ... rrcN
After the first mobile robot, deployments of this workspace type can include any number of mobile robots. Each is entirely similar to
rrc1, except that it might have an RPLIDAR A2 laser scanner instead of one by Hokuyo. In that case, the reference robot.launch would instead use the ROS package rplidar, as shown in the source code.
Bill of materials
Photographs of a deployment
- number of mobile robots is now arbitrary (not only 2)
-- Scott C. Livingston <(hidden)> Tue, 28 Aug 2018
- initial release
-- Scott C. Livingston <(hidden)> Thu, 9 Aug 2018