# 17.5. 載入多個 TB3 {% hint style="info" %} 備註：此應用展示需要韌體版本 v1.2.1 或以上。 {% endhint %} **\[Remote PC 端]** 執行 roscore ``` $ roscore ``` 使用不同的 namespace 來構建多個 turtlebot3。我們建議 namespace 包含常用字詞，如 tb3\_0，tb3\_1 或 my\_robot\_0，my\_robot\_1。 **\[TB3 SBC 端 (tb3\_0)]** 為節點提供 ROS NAMESPACE 的基本套件，為 tf 前綴提供multi\_robot\_name，為光達框架 id 提供 set\_lidar\_frame\_id。 這些參數必須相同。 ``` $ ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb3_0" set_lidar_frame_id:="tb3_0/base_scan" ``` **\[TB3 SBC 端 (tb3\_1)]** 為節點提供 ROS NAMESPACE 的基本套件，為 tf 前綴提供multi\_robot\_name，為光達框架 id 提供 set\_lidar\_frame\_id。 這些參數必須相同但需跟其他機器人不同。 ``` $ ROS_NAMESPACE=tb3_1 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb3_1" set_lidar_frame_id:="tb3_1/base_scan" ``` 然後你用來啟動 tb3\_0 的那個 terminal 視窗，將顯示以下訊息。您可以觀看前綴為 tb3\_0 的 TF 變換樹訊息。 ``` SUMMARY ======== PARAMETERS * /rosdistro: kinetic * /rosversion: 1.12.13 * /tb3_0/turtlebot3_core/baud: 115200 * /tb3_0/turtlebot3_core/port: /dev/ttyACM0 * /tb3_0/turtlebot3_core/tf_prefix: tb3_0 * /tb3_0/turtlebot3_lds/frame_id: tb3_0/base_scan * /tb3_0/turtlebot3_lds/port: /dev/ttyUSB0 NODES /tb3_0/ turtlebot3_core (rosserial_python/serial_node.py) turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics) turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher) ROS_MASTER_URI=http://192.168.1.2:11311 process[tb3_0/turtlebot3_core-1]: started with pid [1903] process[tb3_0/turtlebot3_lds-2]: started with pid [1904] process[tb3_0/turtlebot3_diagnostics-3]: started with pid [1905] [INFO] [1531356275.722408]: ROS Serial Python Node [INFO] [1531356275.796070]: Connecting to /dev/ttyACM0 at 115200 baud [INFO] [1531356278.300310]: Note: publish buffer size is 1024 bytes [INFO] [1531356278.303516]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState] [INFO] [1531356278.323360]: Setup publisher on version_info [turtlebot3_msgs/VersionInfo] [INFO] [1531356278.392212]: Setup publisher on imu [sensor_msgs/Imu] [INFO] [1531356278.414980]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist] [INFO] [1531356278.449703]: Setup publisher on odom [nav_msgs/Odometry] [INFO] [1531356278.466352]: Setup publisher on joint_states [sensor_msgs/JointState] [INFO] [1531356278.485605]: Setup publisher on battery_state [sensor_msgs/BatteryState] [INFO] [1531356278.500973]: Setup publisher on magnetic_field [sensor_msgs/MagneticField] [INFO] [1531356280.545840]: Setup publisher on /tf [tf/tfMessage] [INFO] [1531356280.582609]: Note: subscribe buffer size is 1024 bytes [INFO] [1531356280.584645]: Setup subscriber on cmd_vel [geometry_msgs/Twist] [INFO] [1531356280.620330]: Setup subscriber on sound [turtlebot3_msgs/Sound] [INFO] [1531356280.649508]: Setup subscriber on motor_power [std_msgs/Bool] [INFO] [1531356280.688276]: Setup subscriber on reset [std_msgs/Empty] [INFO] [1531356282.022709]: Setup TF on Odometry [tb3_0/odom] [INFO] [1531356282.026863]: Setup TF on IMU [tb3_0/imu_link] [INFO] [1531356282.030138]: Setup TF on MagneticField [tb3_0/mag_link] [INFO] [1531356282.033628]: Setup TF on JointState [tb3_0/base_link] [INFO] [1531356282.041117]: -------------------------- [INFO] [1531356282.044421]: Connected to OpenCR board! [INFO] [1531356282.047700]: This core(v1.2.1) is compatible with TB3 Burger [INFO] [1531356282.051355]: -------------------------- [INFO] [1531356282.054785]: Start Calibration of Gyro [INFO] [1531356284.585490]: Calibration End ``` **\[Remote PC 端]** 啟動具有相同 namespace 的 robot state publisher ``` $ ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_bringup turtlebot3_remote.launch multi_robot_name:=tb3_0 ``` ``` $ ROS_NAMESPACE=tb3_1 roslaunch turtlebot3_bringup turtlebot3_remote.launch multi_robot_name:=tb3_1 ``` 在開始另一個應用程序之前，檢查 topics 主題和 TF tree 變換樹以打開 rqt。 ``` $ rqt ```
要使用此設置，每個 TB3 要使用 SLAM 製作地圖，並且這些地圖要由[**multi\_map\_merge 套件**](http://wiki.ros.org/multirobot_map_merge)同時合併。您可以瀏覽 [**Virtual SLAM by Multiple TurtleBot3s**](http://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/#2-excute-slam) 章節，來獲取更多有關的訊息。 --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://idminer.gitbook.io/robotis/part-1-turtlebot3/17.-applications-bu-tong-ying-yong/17.5.-zai-ru-duo-ge-tb3.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.