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Multi-Robot SLAM in ROS 2#727

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Daniel-Meza wants to merge 18 commits intoSteveMacenski:humbleSteveMacenski/slam_toolbox:humblefrom UTNuclearRoboticsPublic:humble_multirobotUTNuclearRoboticsPublic/slam_toolbox:humble_multirobotCopy head branch name to clipboard

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Commits on Jul 3, 2024

• Began porting multi-robot branch onto ROS2. Creating separate files and separate classes for multirobot stuff

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Commits on Jul 4, 2024

• Completed porting of slam_toolbox_common. Needs testing and more work

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• Got initial results for multirobot SLAM. More proper testing and additions needed

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Commits on Jul 9, 2024

• Began working on using different colors for the paths of different robots in loop_closure_assistant file

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Commits on Jul 13, 2024

• Different robots have different colors for markers. Need to adjust the namespaces

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Commits on Jul 14, 2024

• More progress towards having robot path vertices and edges in different colors

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Commits on Jul 15, 2024

• Different robots now publish their own paths vertices and edges with randomized colors. Loop closure connections between paths of different robots are defaulted to blue

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Commits on Jul 18, 2024

• Added multirobot synchronous node

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• Removed minor print statement

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Commits on Aug 2, 2024

• Created sample multirobot launch and configuration files. Added multirobot slam section to readme file

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• Fixed gif filepath

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• Added readme description and image for pose graph colors of different robots

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• Minor rearrangement of readme section

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Commits on Aug 29, 2024

• Reworked marker messages for node vertices to use a SPHERE_LIST rather than an array of SPHERE markers. This should improve performance

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Commits on Sep 5, 2024

• Updated pose graph picture and removed debug statement

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Commits on Sep 6, 2024

• Minor Readme typo

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Commits on Sep 11, 2024

• Removed unused image file and updated README with link to config file

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Commits on Jan 2, 2025

• Created multirobot version of localization node. Needs reworking to maintain two separate pose graphs, one for each robot

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