Description

Two AMR robots are walking around the park. WALL-E walks first and recognizes trash objects with YOLO8. WALL-E picks it up with its manipulator and puts it in the basket of EVE robot following behind. EVE robot is made by modifying URDF of Turtlebot3 base model by removing the manipulator and adding a basket at the back.

Capture

GUI

Modified and applied URDF to remove the manipulator and place a basket at the back to collect waste.

Running on Gazebo, Rviz

How to execute

multitb_ws

2 or more AMR spawns, URDF, SDF files modified for special purposes, world file (map) applied

ros2 launch turtlebot3_walleva gazebo_multi_custom.launch.py
or ros2 launch turtlebot3_walleva gazebo_walleva.launch.py

amr_ws

WALL-E goes around looking for trash, and Eve follows him. They go around the park in an endless loop.

ros2 run move_to_goal move_to_goal

b3_ws

Running a GUI server, showing the positions of two AMRs on the minimap and displaying the camera view.

ros2 run dual_bot gui_server

Reference

To spawn two or more AMR bots in rviz and gazebo, I have referenced the repositories below.

https://github.com/arshadlab/turtlebot3_multi_robot/