Active C-SLAM reproduction

[LIU-sm]

Operating System:

Ubuntu 20.04

ROS version :

Foxy

Turtlebot3 Model:

Waffle

Description

Dear author,

Thanks for your work.

I'm a beginner in SLAM and trying to run a Active C-SLAM system.

I found an old project https://github.com/airuchen/multi_turtlebot3 forked from here, it's based on ros1 melodic and tb3 that can deploy multi robots into Gazebo, run a behavior tree node to help exploration and run a map merge node to merge map together, but unfortunatly that project is too old to reproduce.

I'm wondering if there are some launch files could help me reproduce a Active C-SLAM in ROS2, or any advise for help.

Thank you for consideration and help.

Steps to reproduce issue

1

What Have You Tried?

Relevant logs / Terminal output

Screenshots or Diagrams

No response

Additional Information (Optional)

No response

[GyuH13]

Sorry for the late reply!
I’m not aware of a specific reference that exactly matches what you’re looking for, but it should be possible if multi-robot support and the TF frames are set up properly.

I believe the following link may be helpful:
https://yangfan.github.io/projects/ROS/ros-simulation/

If you happen to find a suitable reference later on, please let us know as well—we would be happy to take a look. Thank you!