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I am using the nav2_bringup example (https://github.com/ros-planning/navigation2/blob/main/nav2_bringup/launch/multi_tb3_simulation_launch.py) to launch multiple robots, it works fine. This file launches a file for single robots in different namespaces. This file for single robots is also able to switch from localization to mapping, simply by launching the file with argument slam:=True. I added slam as a launch argument for tb3_simulation_launch.py when launched from multi_tb3_simulation_launch.py and when i start the multirobot file with slam:=True it seems to work partially. ROS topics with the name /robot1/slam_toolbox/feedback,/robot1/slam_toolbox/update and /robot2/slam_toolbox/feedback ,/robot2/slam_toolbox/update get created, but /slam_toolbox/graph_visualization and /slam_toolbox/scan_visualization are only there once and not for every robot. In RVIZ there is no sign of SLAM working.