ROS2与Turbot3-Multi多机协同教程-多机行为树导航

文章说明

• 本教程主要介绍如何实现利用Turbot3-Multi套件进行多机行为树导航
• 测试环境：Ubuntu 24.04 + ROS2 Jazzy

相关设备

• Turbot3-Multi套件：采购地址

操作步骤

• [NUC] 关闭此前打开的ros程序，以免造成冲突

$ ./multi_scripts/multi_kill.sh
$ ./multi_scripts/server_kill.sh

• [NUC] 启动多台机器人

# 根据你当前机器人的数量选择对应的命令
# 默认是启动三台机器人 
$ ./multi_scripts/multi_robot.sh

• [NUC] 检查机器人是否正常启动

$ ros2 topic list
/parameter_events
/rosout
/tb3_0/battery_state
/tb3_0/cmd_vel
/tb3_0/imu
/tb3_0/joint_states
/tb3_0/magnetic_field
/tb3_0/odom
/tb3_0/robot_description
/tb3_0/scan
/tb3_0/sensor_state
/tb3_1/battery_state
/tb3_1/cmd_vel
/tb3_1/imu
/tb3_1/joint_states
/tb3_1/magnetic_field
/tb3_1/odom
/tb3_1/robot_description
/tb3_1/scan
/tb3_1/sensor_state
/tb3_2/battery_state
/tb3_2/cmd_vel
/tb3_2/imu
/tb3_2/joint_states
/tb3_2/magnetic_field
/tb3_2/odom
/tb3_2/robot_description
/tb3_2/scan
/tb3_2/sensor_state
/tf
/tf_static

• [NUC] 启动3台机器人的初始化位姿的脚本，脚本编辑方法可参阅此教程

$ ./multi_scripts/multi_nav_init_pose.sh

• 设置3台机器人tb3_0、tb3_1和tb3_2的起始点分别为(0,-0.8)、(2.4,-0.8)和(4.8,-0.8)，方向一致

• [NUC] 启动3台机器人的行为树导航的脚本

$ ./multi_scripts/multi_send_goal_with_bt_tree.sh

• [NUC] 查看加载的multi_bt_tree.xml配置文件，可知机器人会统一向右移动0.8米，然后tb3_0和tb3_2会交换回到对面的起始点，tb3_1则回到自己原来的起始点

      <RetryUntilSuccessful num_attempts="3">  <!-- Retry once fail -->
        <Parallel success_threshold="3">    <!-- threshold = number of robot -->
          <RetryUntilSuccessful num_attempts="3">
            <Fallback>
              <Sequence>
                <SubTree ID="MoveRobot" namespace="Robot0" target="Robot0_target1" />
                <SubTree ID="MoveRobot" namespace="Robot0" target="Robot2_position" />
              </Sequence>
              <SubTree ID="MoveRobot" namespace="Robot0" target="Robot0_Goal_backup" />
            </Fallback>
          </RetryUntilSuccessful>          

          <RetryUntilSuccessful num_attempts="3">
            <Fallback>
              <Sequence>
                <SubTree ID="MoveRobot" namespace="Robot1" target="Robot1_target1" />
                <SubTree ID="MoveRobot" namespace="Robot1" target="Robot1_position" />
              </Sequence>
              <SubTree ID="MoveRobot" namespace="Robot1" target="Robot1_Goal_backup" />
            </Fallback>
          </RetryUntilSuccessful>          

          <RetryUntilSuccessful num_attempts="3">
            <Fallback>
              <Sequence>
                <SubTree ID="MoveRobot" namespace="Robot2" target="Robot2_target1" />
                <SubTree ID="MoveRobot" namespace="Robot2" target="Robot0_position" />
              </Sequence>
              <SubTree ID="MoveRobot" namespace="Robot2" target="Robot2_Goal_backup" />
            </Fallback>
          </RetryUntilSuccessful>    
        </Parallel>
      </RetryUntilSuccessful>

演示视频