Demo: collaborative mapping of a room (local, rotation only)

To run the demo locally first start the ROS master on your machine.

roscore

Connect to each robot using ssh (password: passwordx), change the ROS_MASTER_URI in /etc/profile to point to your machine.

ssh odroid@cloudbotN
sudo nano /etc/profile
... change ROS_MASTER_URI ...
source /etc/profile

Make sure that time is synchronized between the robot and PC. You can get a current time using ntpdate command

sudo ntpdate ntp.ubuntu.com

If you do not have an internet connection, you would need to install ntp server on your PC

sudo apt-get install ntp

and change the config file /etc/ntp.conf to

server 127.127.1.0
fudge 127.127.1.0 stratum 10

and run

sudo ntpdate your_pc_hostname

on all robots to sync time with PC.

Run on all robots

roslaunch rm_launch robot.launch

On your PC open rviz with config from rapyuta_mapping folder

rosrun rviz rviz -d multi_robot.rviz

Run rotation demo

rosrun rm_multi_mapper rotation_demo

And in new tab

rosservice call /start_moving

View the result in rviz.