enter image description hereI am trying to map a Gazebo environment using 2 husky bots using the multirobot_map_merge package.

However, the merged map being produced is wrong and the robots are not being localized correctly inside the merged map.

How can I improve this? I have been trying to figure this out for quite some time now.

  • $\begingroup$ Probably the maps don't have common features to overlap and merge. Other reasons could be that some of your parameters are wrong or you could check that your namespaces/topic names are not the same. $\endgroup$
    – jdios
    Mar 5, 2021 at 13:50
  • $\begingroup$ The two husky bots are publishing their respective maps on /husky_1/map and /husky_2/map respectively. I have placed distinct markers (squares and spheres) to help in the localization and the map merging process. I am attaching the tf tree and the Gazebo world in the original post for your reference. $\endgroup$
    – skpro19
    Mar 5, 2021 at 15:33


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