[LIVE Class] Make Multiple Robots Collaborate to Create a Map

ROS Developers LIVE-Class #66: Make Multiple Robots Collaborate to Create a Map
Class PART1: https://www.twitch.tv/events/ymA_4GjETTi_FfR0vprdgw
Class PART2:https://www.twitch.tv/events/8a1pofBNTRSq521vj6oStw


Scheduled for October 1, 2019 @ 6pm - 7pm CEST


In this class, you will learn how to launch multiple robots to autonomously explore an environment and create a single map.

We will use frontier exploration package to do an exploration of an unknown environment with multiple robots at the same time.

Why is so important to learn this topic?

As you saw before in live class #64 (https://youtu.be/es_rQmlgndQ), it’s so important to apply multiple robots at the same time, and one of the most common cases are the robot exploration, coordinate several robots working simultaneously to make a common map in the same environment.

What’s frontier_exploration?

It is a ROS package that implements a robot map exploration algorithm for mobile robots. It uses occupancy grids as a map representation.

*The ROSject of this live class has been created by Christian Chavez and Ricardo Tellez from The Construct. You can use the ROSject freely as long as you keep this notice.

Previous knowledge requirements

Robot used in this class


  • FREE event open for everyone, the only thing you may need to do is “set reminder” on our twitch channel.
  • We will share the full ROSject (containing robot simulation, notebook with instructions and code) with all the attendants at the beginning of the class. Remember to be on time.
  • In Live Classes, you will practice with the instructor at the same time, with the provided free ROS material.

If you missed the class, you can find the ROSject files and full-code used in the class at the Robot Ignite Academy: https://www.robotigniteacademy.com

May I know what mapping algorithm is being used? Is it something specific to multi-robot mapping?

Based on the package listed it just seems to be gmapping

The structure works as follows:

  1. We launch a simulation with 3 robots properly configured with move base
  2. We use gmapping on each robot (the three robots mapping separately)
  3. We use the multirobot_map_merge ROS package to merge them into a single one
  4. We use the frontier exploration package to make the robots autonomously explore the environment while doing the map

(please note we have edited the original question to change RRT by frontier exploration)