Multi robot launch in gazebo and multi robots control with namespace.

[GyuH13]

Description

This pull request merges the feature-multi-robots-control-in-gazebo branch into the main branch, using multi robots launch to spawn multi robots in gazebo and control with namespace. This change in this branch makes user use multiple turtlebot3s in gazebo that have identical topics and frames.

Summary of Changes

• Add multi_robot.launch.py
  • This launch spawn multiple turtlebot3s in gazebo and user can modify the launch file to change map or position of turtlebot3s.
• Add 'multi_spawn_turtlebot3.launch.py'
  • It makes turtlebots be spawned with separate namespace.
• Add namespace argument inrobot_state_publisher.launch.py
  • It adds a prefix to the robot state frames (e.g., base_link, imu_link, etc.)

Motivation

There are some Issue regarding the use of namespace in gazebo. Also it has the potential to evolve into examples such as multi-robot navigation in the future.

Testing & Validation

This branch has been validated on the Local PC with the Humble version and works properly

Operation

Picture

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[sunghowoo]

LGTM

[robotpilot]

LGTM

[yun-goon]

Good