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This project demonstrates a multi-robot Gazebo simulation setup using ROS 2. It spawns multiple robots in a Gazebo environment and optionally performs laser scanning for one of the robots.

Prerequisites

ROS 2 
Gazebo installed
Python 3

Installation

  1. Clone this repository to your ROS 2 workspace:

git clone <repository_url>

  1. Build your ROS 2 workspace:

colcon build

Running the Simulation

  1. Open a terminal and source your ROS 2 workspace: source /path/to/your/ros2_ws/install/setup.bash

  2. Launch the Gazebo simulation: ros2 launch <package_name> <launch_file>.py eg: ros2 launch robile safety robile safety.py

Customization

Adjust the number of robots in the generate_launch_description() function in your launch file as needed. Eg: Change the variable number_of_robots = 2, for spawning two robots

Notes

Ensure that your URDF files and Gazebo world files are correctly configured and located in the appropriate directories.