ROS2 package port for multi robot exploration of [m-explore](https://github.com/hrnr/m-explore). Currently tested on Eloquent, Dashing, Foxy, and Galactic distros.
This package works with known and unknown initial poses of the robots. It merges the maps of the robots and publishes the merged map. Some results in simulation:
Because of the logic that merges the maps, currently as a straight forward port to ROS2 from the ROS1 version, the SLAM needs to be done using the ROS1 defacto slam option which is [slam_gmapping](https://github.com/ros-perception/slam_gmapping), which hasn't ported officially to ROS2 yet. There is an unofficial port but it lacks to pass a namespace to its launch file. For that, this repo was tested with one of the authors of this package [fork](https://github.com/charlielito/slam_gmapping/tree/feature/namespace_launch). You'll need to git clone to your workspace and build it with colcon.
This repo has some config examples and launch files for running this package with 2 TB3 robots and a world with nav2. Nonetheless, they are only compatible with the galactic branch and since some breaking changes were introduced in this branch, if you want to try it with another ros2 distro you'll need to tweak those param files for that nav2's distro version (which shouldn't be hard).
### Running the demo with TB3
First you'll need to launch the whole simulation stack, nav2 stacks and slam stacks per robot. For that just launch::
By default the demo runs with known initial poses. You can change that by launching again both launch commands with with the flag `known_init_poses:=False`
Then you can start moving each robot with its corresponding rviz2 interface sending nav2 goals. To see the map merged just launch rviz2:
