Multi-Robot TurtleBot 4 ROS 2 Demos (Jazzy)

This repository contains a suite of autonomous navigation and multi-robot coordination demos developed using TurtleBot 4 Lite and ROS 2 Jazzy. The work showcases scripting-based robot behaviors like motion patterns, pose resets, following logic, and SLAM map generation.

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Key Features

• Square Path Motion
• Zigzag Path Motion
• Move to Predefined Goal Coordinates (e.g., (5, 5))
• Reset to Origin (0, 0, θ = 0)
• Robot Following Using Odometry
• Two-Robot Formation Behavior
• SLAM Map Generation using slam_toolbox
• DWA Planner for Obstacle Avoidance and Goal Navigation

All behaviors are implemented as individual Python ROS 2 packages using rclpy.

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Repository Structure (Simplified)

Multi-Robot-demo/
├── MAP using Slam/ # Saved maps (.pgm, .yaml)
├── Media/ # Demo GIFs (square.gif, follower.gif)
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src/
├── square_movement/          # Square path script
├── zigzag_movement/          # Zigzag motion logic
├── go_to_point/              # Move to (x, y)
├── reset_pose/               # Return to origin
├── robot_follower/           # One robot follows another
├── robot_formation/          # Two robots move in formation
├── mimic/                    # Behavior mimicry (e.g., replay motion)

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Running the Demos

To get the demos up and running in this repository:

1. Clone the repository:

   git clone https://github.com/VERYsmallBOI/Multi-Robot-demo.git

2. Navigate into the workspace:

   cd Multi-Robot-demo

3. Build and source your workspace:

   colcon build
   source install/setup.bash

4. Run a demo: For example, to run the square movement demo for robot2:

   ros2 run square_movement square_driver.py

Tip: Ensure all scripts are executable and ROS dependencies installed (rclpy, geometry_msgs,tf-transformations, etc.).

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SLAM and Mapping

This repo includes SLAM-generated maps using slam_toolbox. To launch the generated Map:

ros2 launch turtlebot4_navigation localization.launch.py map:=atlantis.yaml
ros2 launch turtlebot4_navigation nav2.launch.py

Sample SLAM Map

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Demo Previews

Square Path

Robot Following

DWA Navigation – Scattered Obstacle Space

DWA Navigation – Maze-Like Environment

Two-Robot Formation Navigation

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Requirements

• ROS 2 Jazzy (Ubuntu 24.04)

• TurtleBot 4 Lite (Create 3 + Raspberry Pi)

• Python 3.12

• ROS 2 packages:

  • rclpy, geometry_msgs, nav_msgs, sensor_msgs, tf_transformations

Install additional Python dependencies if needed like this(doesn't affect the system-wide python) :

sudo apt update && sudo apt install ros-jazzy-tf-transformations

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Maintainer

Tamil Selvan tamilselvanelango3@gmail.com

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