Welcome to ROSMASTER R2 repository

4. Multi-machine surround

4.1 Introduction

For the problem of how to configure multi-machine communication and synchronization time, please refer to the lesson [Multi-machine handle control] for details; if there is a network, the network system time can be directly synchronized without setting.

When using multi-machine handle control, it is first necessary to ensure that the robot is under the same local area network and configured with the same [ROS_MASTER_URI]; for multiple robots to control motion, there can only be one host. The example in this section sets the virtual machine as the host, and other robots as the slaves. There are several slaves. Of course, you can also set one robot as the master and others as the slaves.

According to different models, you only need to set the purchased model in [.bashrc], X1(ordinary four-wheel drive) X3(Mike wheel) X3plus(Mike wheel mechanical arm) R2(Ackerman differential) and so on. Section takes X3 as an example

#Raspberry Pi 5 master needs to enter docker first, please perform this step
#If running the script into docker fails, please refer to ROS/07, Docker tutorial
~/run_docker.sh

Open the [.bashrc] file

xxxxxxxxxx
sudo vim .bashrc 

Find the [ROBOT_TYPE] parameter and modify the corresponding model

xxxxxxxxxx
export  ROBOT_TYPE=X3    # ROBOT_TYPE: X1 X3 X3plus R2 X7 

4.2 Use

Take the virtual machine as the host and the three robots as slaves as an example; a map must be available before use. The two slaves are [robot1] and [robot2] respectively, and [robot1] is set as the leader, and [robot2] is set as the follower. Make sure the field is large enough to avoid collisions when playing this feature. And no obstacle avoidance function. This routine does not support the Raspberry PI 5 board driver

4.2.1 Start the robot

virtual machine side

xxxxxxxxxx
roscore 

Start the command(robot1 side), for the convenience of operation, this section takes [mono + laser + yahboomcar] as an example.

xxxxxxxxxx
roslaunch  yahboomcar_multi  laser_bringup_multi.launch  ns := robot1             # laser + yahboomcar 
roslaunch  yahboomcar_multi  laser_usb_bringup_multi.launch  ns := robot1         # mono + laser + yahboomcar 
roslaunch  yahboomcar_multi  laser_astrapro_bringup_multi.launch  ns := robot1    # Astra + laser + yahboomcar 

Start command(robot2 side), for the convenience of operation, this section takes [mono + laser + yahboomcar] as an example.

xxxxxxxxxx
roslaunch  yahboomcar_multi  laser_bringup_multi.launch  ns := robot2             # laser + yahboomcar 
roslaunch  yahboomcar_multi  laser_usb_bringup_multi.launch  ns := robot2         # mono + laser + yahboomcar 
roslaunch  yahboomcar_multi  laser_astrapro_bringup_multi.launch  ns := robot2    # Astra + laser + yahboomcar 

More bots and so on.

4.2.2 Turn on multi-machine surround

For the process of opening the handle control, please refer to the lesson [Multi-machine handle control].

virtual machine side

xxxxxxxxxx
roslaunch yahboomcar_multi tf_roundbroad.launch use_rviz:=true map:=my_map 

• [use_rviz] parameter: whether to open rviz.
• [map] Parameters: map name, the map to be loaded.

After startup, you need to initialize the pose setting of the robot. For the specific setting method, please refer to [Multi-machine Navigation This Lesson]. After setting, the following figure is shown.

4.2.3 Formation control

Open the dynamic parameter adjustment tool

xxxxxxxxxx
rosrun rqt_reconfigure rqt_reconfigure 

The tool can be set individually for each robot.

parameter parsing

[lin_Kp], [lin_Ki], [lin_Kd]: PID debugging of trolley linear speed.

[ang_Kp], [ang_Ki], [ang_Kd]: PID debugging of car angular velocity.

After the [Switch] function switch is turned on, the robot automatically obtains its own position and the position launched by the pilot robot. When it reaches the closest point for the second time, it will follow the robot to automatically circle. As shown below

4.3 launch file

tf_roundbroad.launch

xxxxxxxxxx
< launch > 
    < arg  name = "first_robot1"  default = "robot1" /> 
    < arg  name = "second_robot2"  default = "robot2" /> 
    <!--  rviz  ||  Whether  to  open  rviz  --> 
    < arg  name = "use_rviz"  default = "true" /> 
    <!--  Map name  ||  Map  name  --> 
    < arg  name = "map"  default = "my_apm" /> 
    <!--  Load map  ||  Load  map  --> 
    < node  name = "map_server"  pkg = "map_server"  type = "map_server"  args = "$(find yahboomcar_nav)/maps/$(arg map).yaml" /> 
    < node  pkg = "rviz"  type = "rviz"  name = "rviz"  required = "true"  args = "-d $(find yahboomcar_multi)/rviz/tf_multi.rviz"  if = "$(arg use_rviz)" /> 
    <!--  ############################# first_robot1 ############################# --> 
    < node  pkg = "yahboomcar_multi"  type = "broad_round.py"  name = "RoundBroad"  output = "screen"  args = "$(arg first_robot1)" /> 
    < include  file = "$(find yahboomcar_multi)/launch/library/move_base_multi.launch" > 
        < arg  name = "ns"  value = "$(arg first_robot1)" /> 
    </ include > 
    <!--  ############################# second_robot2 ############################# --> 
    < node  pkg = "yahboomcar_multi"  type = "listener.py"  name = "RobotListener"  output = "screen" 
          args = "$(arg second_robot2) point1"  ns = "$(arg second_robot2)/" > 
        < rosparam  param = "linPIDparam" > [ 1.0, 0, 1.0 ] </ rosparam > 
        < rosparam  param = "angPIDparam" > [ 0.8, 0, 1.0 ] </ rosparam > 
    </ node > 
    < include  file = "$(find yahboomcar_multi)/launch/library/move_base_multi.launch" > 
        < arg  name = "ns"  value = "$(arg second_robot2)" /> 
    </ include > 
</ launch > 

4.4 frame analysis

Node view

xxxxxxxxxx
rqt_graph 

View tf tree

xxxxxxxxxx
rosrun rqt_tf_tree rqt_tf_tree 

It can be seen from the above figure that [robot1] will send out the [point1] coordinate system, and [robot2] monitors the relationship between itself and the coordinate system in real time, and makes its own coordinate system coincide with the coordinate system. In the [tf_roundbroad.launch] file, we can see that [robot2] follows the [point1] coordinate system.