Multiple physical turtlebot3

amcl_robot1.launch

<launch>

  <arg name="use_map_topic"   default="true"/>
  <arg name="scan_topic"      default="/turtlebot01/scan"/>
  <arg name="initial_pose_x"  default="0.0"/>
  <arg name="initial_pose_y"  default="0.0"/>
  <arg name="initial_pose_a"  default="0.0"/>
  <arg name="odom_frame_id"   default="/turtlebot01/odom"/>
  <arg name="base_frame_id"   default="/turtlebot01/base_footprint"/>
  <arg name="global_frame_id" default="map"/>
  
  <group ns = "turtlebot01">
    <node pkg="amcl" type="amcl" name="amcl">
      <param name="use_map_topic"             value="$(arg use_map_topic)"/>
      <!-- Publish scans from best pose at a max of 10 Hz -->
      <param name="odom_model_type"           value="diff"/>
      <param name="odom_alpha5"               value="0.1"/>
      <param name="gui_publish_rate"          value="10.0"/>
      <param name="laser_max_beams"             value="60"/>
      <param name="laser_max_range"           value="12.0"/>
      <param name="min_particles"             value="500"/>
      <param name="max_particles"             value="2000"/>
      <param name="kld_err"                   value="0.05"/>
      <param name="kld_z"                     value="0.99"/>
      <param name="odom_alpha1"               value="0.2"/>
      <param name="odom_alpha2"               value="0.2"/>
      <!-- translation std dev, m -->
      <param name="odom_alpha3"               value="0.2"/>
      <param name="odom_alpha4"               value="0.2"/>
      <param name="laser_z_hit"               value="0.5"/>
      <param name="laser_z_short"             value="0.05"/>
      <param name="laser_z_max"               value="0.05"/>
      <param name="laser_z_rand"              value="0.5"/>
      <param name="laser_sigma_hit"           value="0.2"/>
      <param name="laser_lambda_short"        value="0.1"/>
      <param name="laser_model_type"          value="likelihood_field"/>
      <!-- <param name="laser_model_type" value="beam"/> -->
      <param name="laser_likelihood_max_dist" value="2.0"/>
      <param name="update_min_d"              value="0.25"/>
      <param name="update_min_a"              value="0.2"/>
      <param name="odom_frame_id"             value="$(arg odom_frame_id)"/>
      <param name="base_frame_id"             value="$(arg base_frame_id)"/>
      <param name="global_frame_id"           value="$(arg global_frame_id)"/>
      <param name="resample_interval"         value="1"/>
      <!-- Increase tolerance because the computer can get quite busy -->
      <param name="transform_tolerance"       value="1.0"/>
      <param name="recovery_alpha_slow"       value="0.0"/>
      <param name="recovery_alpha_fast"       value="0.0"/>
      <param name="initial_pose_x"            value="$(arg initial_pose_x)"/>
      <param name="initial_pose_y"            value="$(arg initial_pose_y)"/>
      <param name="initial_pose_a"            value="$(arg initial_pose_a)"/>
      <remap from="scan"                      to="$(arg scan_topic)"/>

      <param name="tf_broadcast"              value="true"/>
    </node>
  </group>

</launch>

amcl_robot2.launch

<launch>

  <arg name="use_map_topic"   default="true"/>
  <arg name="scan_topic"      default="/turtlebot02/scan"/>
  <arg name="initial_pose_x"  default="2.0"/>
  <arg name="initial_pose_y"  default="2.0"/>
  <arg name="initial_pose_a"  default="0.0"/>
  <arg name="odom_frame_id"   default="/turtlebot02/odom"/>
  <arg name="base_frame_id"   default="/turtlebot02/base_footprint"/>
  <arg name="global_frame_id" default="map"/>
  
  <group ns = "turtlebot02">

  <!-- <node pkg="tf" type="static_transform_publisher" name="base_footprint_to_map"
    args="0.1 0  0  -1.570796327 0 -1.570796327  /turtlebot02/base_footprint /map 100"/> -->

    <node pkg="amcl" type="amcl" name="amcl">
      <param name="use_map_topic"             value="$(arg use_map_topic)"/>
      <!-- Publish scans from best pose at a max of 10 Hz -->
      <param name="odom_model_type"           value="diff"/>
      <param name="odom_alpha5"               value="0.1"/>
      <param name="gui_publish_rate"          value="10.0"/>
      <param name="laser_max_beams"             value="60"/>
      <param name="laser_max_range"           value="12.0"/>
      <param name="min_particles"             value="500"/>
      <param name="max_particles"             value="2000"/>
      <param name="kld_err"                   value="0.05"/>
      <param name="kld_z"                     value="0.99"/>
      <param name="odom_alpha1"               value="0.2"/>
      <param name="odom_alpha2"               value="0.2"/>
      <!-- translation std dev, m -->
      <param name="odom_alpha3"               value="0.2"/>
      <param name="odom_alpha4"               value="0.2"/>
      <param name="laser_z_hit"               value="0.5"/>
      <param name="laser_z_short"             value="0.05"/>
      <param name="laser_z_max"               value="0.05"/>
      <param name="laser_z_rand"              value="0.5"/>
      <param name="laser_sigma_hit"           value="0.2"/>
      <param name="laser_lambda_short"        value="0.1"/>
      <param name="laser_model_type"          value="likelihood_field"/>
      <!-- <param name="laser_model_type" value="beam"/> -->
      <param name="laser_likelihood_max_dist" value="2.0"/>
      <param name="update_min_d"              value="0.25"/>
      <param name="update_min_a"              value="0.2"/>
      <param name="odom_frame_id"             value="$(arg odom_frame_id)"/>
      <param name="base_frame_id"             value="$(arg base_frame_id)"/>
      <param name="global_frame_id"           value="$(arg global_frame_id)"/>
      <param name="resample_interval"         value="1"/>
      <!-- Increase tolerance because the computer can get quite busy -->
      <param name="transform_tolerance"       value="1.0"/>
      <param name="recovery_alpha_slow"       value="0.0"/>
      <param name="recovery_alpha_fast"       value="0.0"/>
      <param name="initial_pose_x"            value="$(arg initial_pose_x)"/>
      <param name="initial_pose_y"            value="$(arg initial_pose_y)"/>
      <param name="initial_pose_a"            value="$(arg initial_pose_a)"/>
      <remap from="scan"                      to="$(arg scan_topic)"/>

    </node>
  </group>

</launch>

move_base_1.launch

<!--
    ROS navigation stack with velocity smoother and safety (reactive) controller
-->
<launch>


  <!-- <include file="$(find turtlebot3_navigation)/launch/includes/velocity_smoother.launch.xml"/>
  <include file="$(find turtlebot3_navigation)/launch/includes/safety_controller.launch.xml"/> -->

  <arg name="odom_frame_id"   default="turtlebot01/odom"/>
  <arg name="base_frame_id"   default="turtlebot01/base_footprint"/>
  <arg name="global_frame_id" default="map"/>
  <arg name="odom_topic" default="/turtlebot01/odom" />
  <arg name="laser_topic" default="/turtlebot01/scan" />
  <!-- <arg name="custom_param_file" default="$(find turtlebot3_navigation)/param/dummy.yaml"/> -->
  <group ns = "turtlebot01">
        <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
            <rosparam file="$(find turtlebot3_navigation)/multi_param/multi_param0/costmap_common_params_waffle_pi.yaml" command="load" ns="global_costmap" />
            <rosparam file="$(find turtlebot3_navigation)/multi_param/multi_param0/costmap_common_params_waffle_pi.yaml" command="load" ns="local_costmap" />
            <rosparam file="$(find turtlebot3_navigation)/multi_param/multi_param0/local_costmap_params.yaml" command="load" />
            <rosparam file="$(find turtlebot3_navigation)/multi_param/multi_param0/global_costmap_params.yaml" command="load" />
            <rosparam file="$(find turtlebot3_navigation)/multi_param/multi_param0/dwa_local_planner_params_waffle_pi.yaml" command="load" />
            <rosparam file="$(find turtlebot3_navigation)/multi_param/multi_param0/move_base_params.yaml" command="load" />
            <!-- <rosparam file="$(find turtlebot3_navigation)/param/global_planner_params.yaml" command="load" /> -->
            <!-- <rosparam file="$(find turtlebot3_navigation)/param/navfn_global_planner_params.yaml" command="load" /> -->
            <!-- external params file that could be loaded into the move_base namespace -->
            <!-- <rosparam file="$(arg custom_param_file)" command="load" /> -->

            <!-- reset frame_id parameters using user input data -->
            <param name="global_costmap/global_frame" value="$(arg global_frame_id)"/>
            <param name="global_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
            <param name="local_costmap/global_frame" value="$(arg odom_frame_id)"/>
            <param name="local_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
            <param name="DWAPlannerROS/global_frame_id" value="$(arg odom_frame_id)"/>

            <remap from="cmd_vel" to="/turtlebot01/cmd_vel"/>
            <remap from="odom" to="$(arg odom_topic)"/>
            <remap from="scan" to="$(arg laser_topic)"/>
            <!-- <remap from="map" to="/map" /> -->
            <remap from="/move_base_simple/goal"                                           to="/turtlebot01/move_base_simple/goal" />
            <remap from="/move_base/TebLocalPlannerROS/global_plan"                        to="/turtlebot01/move_base/TebLocalPlannerROS/global_plan" />
            <remap from="/move_base/TebLocalPlannerROS/local_plan"                         to="/turtlebot01/move_base/TebLocalPlannerROS/local_plan" />
            <remap from="/move_base/TebLocalPlannerROS/teb_markers"                        to="/turtlebot01/move_base/TebLocalPlannerROS/teb_markers" />
            <remap from="/move_base/TebLocalPlannerROS/teb_markers_array"                  to="/turtlebot01/move_base/TebLocalPlannerROS/teb_markers_array" />
            <remap from="/move_base/TebLocalPlannerROS/teb_poses"                          to="/turtlebot01/move_base/TebLocalPlannerROS/teb_poses" />
            <remap from="/move_base/global_costmap/costmap"                                to="/turtlebot01/move_base/global_costmap/costmap" />
            <remap from="/move_base/global_costmap/costmap_updates"                        to="/turtlebot01/move_base/global_costmap/costmap_updates" />
            <remap from="/move_base/local_costmap/costmap"                                 to="/turtlebot01/move_base/local_costmap/costmap" />
            <remap from="/move_base/local_costmap/costmap_updates"                         to="/turtlebot01/move_base/local_costmap/costmap_updates" />
            <remap from="/move_base/local_costmap/footprint"                               to="/turtlebot01/move_base/local_costmap/footprint" />

            <remap from="/move_base/GlobalPlanner/parameter_descriptions"                  to="/turtlebot01/move_base/GlobalPlanner/parameter_descriptions" />
            <remap from="/move_base/GlobalPlanner/parameter_updates"                       to="/turtlebot01/move_base/GlobalPlanner/parameter_updates" />
            <remap from="/move_base/GlobalPlanner/plan"                                    to="/turtlebot01/move_base/GlobalPlanner/plan" />
            <remap from="/move_base/GlobalPlanner/potential"                               to="/turtlebot01/move_base/GlobalPlanner/potential" />
            <remap from="/move_base/TebLocalPlannerROS/obstacles"                          to="/turtlebot01/move_base/TebLocalPlannerROS/obstacles" />
            <remap from="/move_base/TebLocalPlannerROS/parameter_descriptions"             to="/turtlebot01/move_base/TebLocalPlannerROS/parameter_descriptions" />
            <remap from="/move_base/TebLocalPlannerROS/parameter_updates"                  to="/turtlebot01/move_base/TebLocalPlannerROS/parameter_updates" />
            <remap from="/move_base/cancel"                                                to="/turtlebot01/move_base/cancel" />
            <remap from="/move_base/current_goal"                                          to="/turtlebot01/move_base/current_goal" />
            <remap from="/move_base/feedback"                                              to="/turtlebot01/move_base/feedback" />
            <remap from="/move_base/global_costmap/footprint"                              to="/turtlebot01/move_base/global_costmap/footprint" />
            <remap from="/move_base/global_costmap/inflation_layer/parameter_descriptions" to="/turtlebot01/move_base/global_costmap/inflation_layer/parameter_descriptions" />
            <remap from="/move_base/global_costmap/inflation_layer/parameter_updates"      to="/turtlebot01/move_base/global_costmap/inflation_layer/parameter_updates" />
            <remap from="/move_base/global_costmap/obstacle_layer/clearing_endpoints"      to="/turtlebot01/move_base/global_costmap/obstacle_layer/clearing_endpoints" />
            <remap from="/move_base/global_costmap/obstacle_layer/parameter_descriptions"  to="/turtlebot01/move_base/global_costmap/obstacle_layer/parameter_descriptions" />
            <remap from="/move_base/global_costmap/obstacle_layer/parameter_updates"       to="/turtlebot01/move_base/global_costmap/obstacle_layer/parameter_updates" />
            <remap from="/move_base/global_costmap/parameter_descriptions"                 to="/turtlebot01/move_base/global_costmap/parameter_descriptions" />
            <remap from="/move_base/global_costmap/parameter_updates"                      to="/turtlebot01/move_base/global_costmap/parameter_updates" />
            <remap from="/move_base/global_costmap/static_layer/parameter_descriptions"    to="/turtlebot01/move_base/global_costmap/static_layer/parameter_descriptions" />
            <remap from="/move_base/global_costmap/static_layer/parameter_updates"         to="/turtlebot01/move_base/global_costmap/static_layer/parameter_updates" />
            <remap from="/move_base/goal"                                                  to="/turtlebot01/move_base/goal" />
            <remap from="/move_base/local_costmap/obstacle_layer/parameter_descriptions"   to="/turtlebot01/move_base/local_costmap/obstacle_layer/parameter_descriptions" />
            <remap from="/move_base/local_costmap/obstacle_layer/parameter_updates"        to="/turtlebot01/move_base/local_costmap/obstacle_layer/parameter_updates" />
            <remap from="/move_base/local_costmap/parameter_descriptions"                  to="/turtlebot01/move_base/local_costmap/parameter_descriptions" />
            <remap from="/move_base/local_costmap/parameter_updates"                       to="/turtlebot01/move_base/local_costmap/parameter_updates" />
            <remap from="/move_base/local_costmap/static_layer/parameter_descriptions"     to="/turtlebot01/move_base/local_costmap/static_layer/parameter_descriptions" />
            <remap from="/move_base/local_costmap/static_layer/parameter_updates"          to="/turtlebot01/move_base/local_costmap/static_layer/parameter_updates" />
            <remap from="/move_base/parameter_descriptions"                                to="/turtlebot01/move_base/parameter_descriptions" />
            <remap from="/move_base/parameter_updates"                                     to="/turtlebot01/move_base/parameter_updates" />
            <remap from="/move_base/result"                                                to="/turtlebot01/move_base/result" />
            <remap from="/move_base/status"                                                to="/turtlebot01/move_base/status" />
            <remap from="/move_base_simple/goal"                                           to="/turtlebot01/move_base_simple/goal" />
        </node>

    </group>

</launch>

move_base_2.launch

<!--
    ROS navigation stack with velocity smoother and safety (reactive) controller
-->
<launch>


  <!-- <include file="$(find turtlebot3_navigation)/launch/includes/velocity_smoother.launch.xml"/>
  <include file="$(find turtlebot3_navigation)/launch/includes/safety_controller.launch.xml"/> -->

  <arg name="odom_frame_id"   default="turtlebot02/odom"/>
  <arg name="base_frame_id"   default="turtlebot02/base_footprint"/>
  <arg name="global_frame_id" default="map"/>
  <arg name="odom_topic" default="/turtlebot02/odom" />
  <arg name="laser_topic" default="/turtlebot02/scan" />
  <!-- <arg name="custom_param_file" default="$(find turtlebot3_navigation)/param/dummy.yaml"/> -->
  <group ns = "turtlebot02">
        <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
            <rosparam file="$(find turtlebot3_navigation)/multi_param/multi_param1/costmap_common_params_waffle_pi.yaml" command="load" ns="global_costmap" />
            <rosparam file="$(find turtlebot3_navigation)/multi_param/multi_param1/costmap_common_params_waffle_pi.yaml" command="load" ns="local_costmap" />
            <rosparam file="$(find turtlebot3_navigation)/multi_param/multi_param1/local_costmap_params.yaml" command="load" />
            <rosparam file="$(find turtlebot3_navigation)/multi_param/multi_param1/global_costmap_params.yaml" command="load" />
            <rosparam file="$(find turtlebot3_navigation)/multi_param/multi_param1/dwa_local_planner_params_waffle_pi.yaml" command="load" />
            <rosparam file="$(find turtlebot3_navigation)/multi_param/multi_param1/move_base_params.yaml" command="load" />
            <!-- <rosparam file="$(find turtlebot3_navigation)/param/global_planner_params.yaml" command="load" /> -->
            <!-- <rosparam file="$(find turtlebot3_navigation)/param/navfn_global_planner_params.yaml" command="load" /> -->
            <!-- external params file that could be loaded into the move_base namespace -->
            <!-- <rosparam file="$(arg custom_param_file)" command="load" /> -->

            <!-- reset frame_id parameters using user input data -->
            <param name="global_costmap/global_frame" value="$(arg global_frame_id)"/>
            <param name="global_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
            <param name="local_costmap/global_frame" value="$(arg odom_frame_id)"/>
            <param name="local_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
            <param name="DWAPlannerROS/global_frame_id" value="$(arg odom_frame_id)"/>

            <remap from="cmd_vel" to="/turtlebot02/cmd_vel"/>
            <remap from="odom" to="$(arg odom_topic)"/>
            <remap from="scan" to="$(arg laser_topic)"/>
            <!-- <remap from="map" to="/map" /> -->
            <remap from="/move_base_simple/goal"                                           to="/turtlebot02/move_base_simple/goal" />
            <remap from="/move_base/TebLocalPlannerROS/global_plan"                        to="/turtlebot02/move_base/TebLocalPlannerROS/global_plan" />
            <remap from="/move_base/TebLocalPlannerROS/local_plan"                         to="/turtlebot02/move_base/TebLocalPlannerROS/local_plan" />
            <remap from="/move_base/TebLocalPlannerROS/teb_markers"                        to="/turtlebot02/move_base/TebLocalPlannerROS/teb_markers" />
            <remap from="/move_base/TebLocalPlannerROS/teb_markers_array"                  to="/turtlebot02/move_base/TebLocalPlannerROS/teb_markers_array" />
            <remap from="/move_base/TebLocalPlannerROS/teb_poses"                          to="/turtlebot02/move_base/TebLocalPlannerROS/teb_poses" />
            <remap from="/move_base/global_costmap/costmap"                                to="/turtlebot02/move_base/global_costmap/costmap" />
            <remap from="/move_base/global_costmap/costmap_updates"                        to="/turtlebot02/move_base/global_costmap/costmap_updates" />
            <remap from="/move_base/local_costmap/costmap"                                 to="/turtlebot02/move_base/local_costmap/costmap" />
            <remap from="/move_base/local_costmap/costmap_updates"                         to="/turtlebot02/move_base/local_costmap/costmap_updates" />
            <remap from="/move_base/local_costmap/footprint"                               to="/turtlebot02/move_base/local_costmap/footprint" />

            <remap from="/move_base/GlobalPlanner/parameter_descriptions"                  to="/turtlebot02/move_base/GlobalPlanner/parameter_descriptions" />
            <remap from="/move_base/GlobalPlanner/parameter_updates"                       to="/turtlebot02/move_base/GlobalPlanner/parameter_updates" />
            <remap from="/move_base/GlobalPlanner/plan"                                    to="/turtlebot02/move_base/GlobalPlanner/plan" />
            <remap from="/move_base/GlobalPlanner/potential"                               to="/turtlebot02/move_base/GlobalPlanner/potential" />
            <remap from="/move_base/TebLocalPlannerROS/obstacles"                          to="/turtlebot02/move_base/TebLocalPlannerROS/obstacles" />
            <remap from="/move_base/TebLocalPlannerROS/parameter_descriptions"             to="/turtlebot02/move_base/TebLocalPlannerROS/parameter_descriptions" />
            <remap from="/move_base/TebLocalPlannerROS/parameter_updates"                  to="/turtlebot02/move_base/TebLocalPlannerROS/parameter_updates" />
            <remap from="/move_base/cancel"                                                to="/turtlebot02/move_base/cancel" />
            <remap from="/move_base/current_goal"                                          to="/turtlebot02/move_base/current_goal" />
            <remap from="/move_base/feedback"                                              to="/turtlebot02/move_base/feedback" />
            <remap from="/move_base/global_costmap/footprint"                              to="/turtlebot02/move_base/global_costmap/footprint" />
            <remap from="/move_base/global_costmap/inflation_layer/parameter_descriptions" to="/turtlebot02/move_base/global_costmap/inflation_layer/parameter_descriptions" />
            <remap from="/move_base/global_costmap/inflation_layer/parameter_updates"      to="/turtlebot02/move_base/global_costmap/inflation_layer/parameter_updates" />
            <remap from="/move_base/global_costmap/obstacle_layer/clearing_endpoints"      to="/turtlebot02/move_base/global_costmap/obstacle_layer/clearing_endpoints" />
            <remap from="/move_base/global_costmap/obstacle_layer/parameter_descriptions"  to="/turtlebot02/move_base/global_costmap/obstacle_layer/parameter_descriptions" />
            <remap from="/move_base/global_costmap/obstacle_layer/parameter_updates"       to="/turtlebot02/move_base/global_costmap/obstacle_layer/parameter_updates" />
            <remap from="/move_base/global_costmap/parameter_descriptions"                 to="/turtlebot02/move_base/global_costmap/parameter_descriptions" />
            <remap from="/move_base/global_costmap/parameter_updates"                      to="/turtlebot02/move_base/global_costmap/parameter_updates" />
            <remap from="/move_base/global_costmap/static_layer/parameter_descriptions"    to="/turtlebot02/move_base/global_costmap/static_layer/parameter_descriptions" />
            <remap from="/move_base/global_costmap/static_layer/parameter_updates"         to="/turtlebot02/move_base/global_costmap/static_layer/parameter_updates" />
            <remap from="/move_base/goal"                                                  to="/turtlebot02/move_base/goal" />
            <remap from="/move_base/local_costmap/obstacle_layer/parameter_descriptions"   to="/turtlebot02/move_base/local_costmap/obstacle_layer/parameter_descriptions" />
            <remap from="/move_base/local_costmap/obstacle_layer/parameter_updates"        to="/turtlebot02/move_base/local_costmap/obstacle_layer/parameter_updates" />
            <remap from="/move_base/local_costmap/parameter_descriptions"                  to="/turtlebot02/move_base/local_costmap/parameter_descriptions" />
            <remap from="/move_base/local_costmap/parameter_updates"                       to="/turtlebot02/move_base/local_costmap/parameter_updates" />
            <remap from="/move_base/local_costmap/static_layer/parameter_descriptions"     to="/turtlebot02/move_base/local_costmap/static_layer/parameter_descriptions" />
            <remap from="/move_base/local_costmap/static_layer/parameter_updates"          to="/turtlebot02/move_base/local_costmap/static_layer/parameter_updates" />
            <remap from="/move_base/parameter_descriptions"                                to="/turtlebot02/move_base/parameter_descriptions" />
            <remap from="/move_base/parameter_updates"                                     to="/turtlebot02/move_base/parameter_updates" />
            <remap from="/move_base/result"                                                to="/turtlebot02/move_base/result" />
            <remap from="/move_base/status"                                                to="/turtlebot02/move_base/status" />
            <remap from="/move_base_simple/goal"                                           to="/turtlebot02/move_base_simple/goal" />
        </node>

    </group>

</launch>

multi_navigation_new.rviz

Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /TF1/Frames1
        - /TF1/Tree1
        - /Global Map1/Costmap1
        - /Global Map1/Planner1
        - /Local Map1/Polygon1
        - /Local Map1/Costmap1
        - /Local Map1/Planner1
        - /Goal1
        - /Goal3
      Splitter Ratio: 0.5
    Tree Height: 804
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: LaserScan
Preferences:
  PromptSaveOnExit: true
Toolbars:
  toolButtonStyle: 2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.029999999329447746
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 20
      Reference Frame: <Fixed Frame>
      Value: true
    - Class: rviz/TF
      Enabled: false
      Frame Timeout: 15
      Frames:
        All Enabled: false
      Marker Alpha: 1
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: false
      Tree:
        {}
      Update Interval: 0
      Value: false
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/LaserScan
      Color: 0; 255; 0
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 13069
      Min Color: 0; 0; 0
      Min Intensity: 28
      Name: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.030000001192092896
      Style: Flat Squares
      Topic: /turtlebot01/scan
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: rviz/Image
      Enabled: false
      Image Topic: /raspicam_node/image
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: compressed
      Unreliable: false
      Value: false
    - Alpha: 0.699999988079071
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: map
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 0; 0; 0
      Enabled: true
      Head Diameter: 0.30000001192092896
      Head Length: 0.20000000298023224
      Length: 0.30000001192092896
      Line Style: Lines
      Line Width: 0.029999999329447746
      Name: Planner Plan
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 255; 85; 255
      Pose Style: None
      Queue Size: 10
      Radius: 0.029999999329447746
      Shaft Diameter: 0.10000000149011612
      Shaft Length: 0.10000000149011612
      Topic: /turtlebot01/move_base/NavfnROS/plan
      Unreliable: false
      Value: true
    - Class: rviz/Group
      Displays:
        - Alpha: 0.699999988079071
          Class: rviz/Map
          Color Scheme: costmap
          Draw Behind: true
          Enabled: true
          Name: Costmap
          Topic: /turtlebot01/move_base/global_costmap/costmap
          Unreliable: false
          Use Timestamp: false
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 255; 0; 0
          Enabled: true
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.30000001192092896
          Line Style: Lines
          Line Width: 0.029999999329447746
          Name: Planner
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 255; 85; 255
          Pose Style: None
          Queue Size: 10
          Radius: 0.029999999329447746
          Shaft Diameter: 0.10000000149011612
          Shaft Length: 0.10000000149011612
          Topic: /turtlebot01/move_base/DWAPlannerROS/global_plan
          Unreliable: false
          Value: true
      Enabled: true
      Name: Global Map
    - Class: rviz/Group
      Displays:
        - Alpha: 1
          Class: rviz/Polygon
          Color: 0; 0; 0
          Enabled: true
          Name: Polygon
          Queue Size: 10
          Topic: /turtlebot01/move_base/local_costmap/footprint
          Unreliable: false
          Value: true
        - Alpha: 0.699999988079071
          Class: rviz/Map
          Color Scheme: costmap
          Draw Behind: false
          Enabled: true
          Name: Costmap
          Topic: /turtlebot01/move_base/local_costmap/costmap
          Unreliable: false
          Use Timestamp: false
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 255; 255; 0
          Enabled: true
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.30000001192092896
          Line Style: Lines
          Line Width: 0.029999999329447746
          Name: Planner
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 255; 85; 255
          Pose Style: None
          Queue Size: 10
          Radius: 0.029999999329447746
          Shaft Diameter: 0.10000000149011612
          Shaft Length: 0.10000000149011612
          Topic: /turtlebot01/move_base/DWAPlannerROS/local_plan
          Unreliable: false
          Value: true
      Enabled: false
      Name: Local Map
    - Alpha: 1
      Arrow Length: 0.05000000074505806
      Axes Length: 0.30000001192092896
      Axes Radius: 0.009999999776482582
      Class: rviz/PoseArray
      Color: 0; 192; 0
      Enabled: false
      Head Length: 0.07000000029802322
      Head Radius: 0.029999999329447746
      Name: Amcl Particles
      Queue Size: 10
      Shaft Length: 0.23000000417232513
      Shaft Radius: 0.009999999776482582
      Shape: Arrow (Flat)
      Topic: /turtlebot01/particlecloud
      Unreliable: false
      Value: false
    - Alpha: 1
      Axes Length: 1
      Axes Radius: 0.10000000149011612
      Class: rviz/Pose
      Color: 255; 25; 0
      Enabled: true
      Head Length: 0.30000001192092896
      Head Radius: 0.10000000149011612
      Name: Goal
      Queue Size: 10
      Shaft Length: 0.5
      Shaft Radius: 0.05000000074505806
      Shape: Arrow
      Topic: /turtlebot01/move_base/current_goal
      Unreliable: false
      Value: true
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Name: RobotModel
      Robot Description: turtlebot01/robot_description
      TF Prefix: turtlebot01
      Update Interval: 0
      Value: true
      Visual Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        /turtlebot01/base_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        /turtlebot01/base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        /turtlebot01/base_scan:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        /turtlebot01/caster_back_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        /turtlebot01/imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        /turtlebot01/wheel_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        /turtlebot01/wheel_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 0; 0; 0
      Enabled: true
      Head Diameter: 0.30000001192092896
      Head Length: 0.20000000298023224
      Length: 0.30000001192092896
      Line Style: Lines
      Line Width: 0.029999999329447746
      Name: Planner Plan
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 255; 85; 255
      Pose Style: None
      Queue Size: 10
      Radius: 0.029999999329447746
      Shaft Diameter: 0.10000000149011612
      Shaft Length: 0.10000000149011612
      Topic: /turtlebot02/move_base/NavfnROS/plan
      Unreliable: false
      Value: true
    - Alpha: 1
      Arrow Length: 0.05000000074505806
      Axes Length: 0.30000001192092896
      Axes Radius: 0.009999999776482582
      Class: rviz/PoseArray
      Color: 255; 0; 0
      Enabled: false
      Head Length: 0.07000000029802322
      Head Radius: 0.029999999329447746
      Name: Amcl Particles
      Queue Size: 10
      Shaft Length: 0.23000000417232513
      Shaft Radius: 0.009999999776482582
      Shape: Arrow (Flat)
      Topic: /turtlebot02/particlecloud
      Unreliable: false
      Value: false
    - Alpha: 1
      Axes Length: 1
      Axes Radius: 0.10000000149011612
      Class: rviz/Pose
      Color: 0; 85; 255
      Enabled: true
      Head Length: 0.30000001192092896
      Head Radius: 0.10000000149011612
      Name: Goal
      Queue Size: 10
      Shaft Length: 0.5
      Shaft Radius: 0.05000000074505806
      Shape: Arrow
      Topic: /turtlebot02/move_base/current_goal
      Unreliable: false
      Value: true
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Name: RobotModel
      Robot Description: turtlebot02/robot_description
      TF Prefix: turtlebot02
      Update Interval: 0
      Value: true
      Visual Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        /turtlebot02/base_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        /turtlebot02/base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        /turtlebot02/base_scan:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        /turtlebot02/caster_back_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        /turtlebot02/imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        /turtlebot02/wheel_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        /turtlebot02/wheel_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: map
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/MoveCamera
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/Select
    - Class: rviz/SetInitialPose
      Theta std deviation: 0.2617993950843811
      Topic: /turtlebot01/initialpose
      X std deviation: 0.5
      Y std deviation: 0.5
    - Class: rviz/SetInitialPose
      Theta std deviation: 0.2617993950843811
      Topic: /turtlebot02/initialpose
      X std deviation: 0.5
      Y std deviation: 0.5
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/Measure
  Value: true
  Views:
    Current:
      Angle: -1.5707963705062866
      Class: rviz/TopDownOrtho
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Scale: 100
      Target Frame: <Fixed Frame>
      X: 0
      Y: 0
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1027
  Hide Left Dock: false
  Hide Right Dock: true
  Image:
    collapsed: false
  QMainWindow State: 000000ff00000000fd00000004000000000000016a000003adfc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed0000021700000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000003ad000000c700fffffffb0000000a0049006d0061006700650000000317000000cc0000001600fffffffb0000000a0049006d0061006700650000000330000000ce0000000000000000000000010000010f000003a0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000043000003a0000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000024400fffffffb0000000800540069006d006501000000000000045000000000000000000000038f000003ad00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1279
  X: 72
  Y: 562

navigation.launch

<launch>
  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="path_to_map/maps/map.yaml" >
    <param name="frame_id" value="map" />
  </node>

 <!-- Properties of each robot      -->
    
   <!-- AMCL      -->
    <include file="$(find turtlebot3_navigation)/launch/move_base_1.launch" />
    <include file="$(find turtlebot3_navigation)/launch/move_base_2.launch" />


    <include file="$(find turtlebot3_navigation)/launch/amcl_robot1.launch" />
    <include file="$(find turtlebot3_navigation)/launch/amcl_robot2.launch" />
    
    <!-- MOVE_BASE-->


<!-- Launching Rviz      -->

    <node pkg="rviz" type="rviz" name="rviz" required="true"
          args="-d $(find turtlebot3_navigation)/rviz/multi_navigation_new.rviz"/>
</launch>

one_robot.launch

<launch>
    <arg name="tf_prefix"/>
    <arg name="init_pose"/>

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
      <param name="publish_frequency" type="double" value="50.0" />
      <param name="tf_prefix" value="$(arg tf_prefix)"/>
    </node>

</launch>

param0_costmap_common_params_waffle_pi.yaml

obstacle_range: 3.0
raytrace_range: 3.5

footprint: [[-0.205, -0.155], [-0.205, 0.155], [0.077, 0.155], [0.077, -0.155]]
#robot_radius: 0.17

inflation_radius: 1.0
cost_scaling_factor: 3.0

map_type: costmap
observation_sources: scan
scan: {sensor_frame: turtlebot01/base_scan, data_type: LaserScan, topic: /turtlebot01/scan, marking: true, clearing: true}

param0_global_costmap_params.yaml

global_costmap:
  global_frame: map
  robot_base_frame: turtlebot01/base_footprint

  update_frequency: 10.0
  publish_frequency: 10.0
  transform_tolerance: 0.5

  static_map: true

  width: 50
  height: 50
  resolution: 0.075

  rolling_window: false
  track_unknown_space: true
  
  footprint: [[-0.205, -0.155], [-0.205,0.155], [0.077, 0.155], [0.077, -0.155]]

  plugins:
      - {name: static,           type: "costmap_2d::StaticLayer"}
      - {name: multibot_layer,     type: "multibot_layer_namespace::MultibotLayer"}
      - {name: sensor,           type: "costmap_2d::ObstacleLayer"}
      - {name: inflation,        type: "costmap_2d::InflationLayer"}
  
  static:
      map_topic: map
      subscribe_to_updates: true
  
  sensor:
      observation_sources: laser
  
  laser: {sensor_frame: turtlebot01/base_scan, data_type: LaserScan, topic: /turtlebot01/scan, marking: true, clearing: true, obstacle_range: 2.0, raytrace_range: 5.0}
  
  inflation:
      inflation_radius: 1
      cost_scaling_factor: 8

param0_local_costmap_params.yaml

local_costmap:

  footprint: [[-0.205, -0.155], [-0.205,0.155], [0.077, 0.155], [0.077, -0.155]]

  global_frame: map # turtlebot01/odom
  robot_base_frame: turtlebot01/base_footprint
  static_map: false
  rolling_window: true

  update_frequency: 10.0
  publish_frequency: 10.0
  transform_tolerance: 0.5  

  static_map: false  
  rolling_window: true
  width: 3
  height: 3
  resolution: 0.05

  plugins:
          # - {name: simplelayer, type: "multibot_layer_namespace::MultibotLayer"}
          # - {name: gridlayer, type: "multibot_layer_namespace::GridLayer"}
      - {name: multibot_layerer, type: "multibot_layer_namespace::MultibotLayer"}
      - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
      - {name: inflation, type: "costmap_2d::InflationLayer"}
  obstacle_layer:
      observation_sources: laser
      laser: {data_type: LaserScan, sensor_frame: turtlebot01/base_scan, topic: /turtlebot01/scan, marking: true, clearing: true, obstacle_range: 2.0, raytrace_range: 5.0}
 
 
  inflation:
        inflation_radius: 0.75
        cost_scaling_factor: 4 # larger number = lower cost elevation   

robots.launch

<launch>
  
    <arg name="model" default="waffle_pi"/>

    <!-- No namespace here as we will share this description.
       Access with slash at the beginning -->
    <include file="$(find turtlebot3_bringup)/launch/includes/description.launch.xml">
        <arg name="model" value="$(arg model)" />
    </include>
    <!-- BEGIN ROBOT 1-->
    <group ns="turtlebot01">
        <param name="tf_prefix" value="turtlebot01" />
        <include file="$(find turtlebot3_navigation)/launch/one_robot.launch" >
            <arg name="init_pose" value="-x 3 -y 1 -z 0" />
            <arg name="tf_prefix"  value="turtlebot01" />
        </include>
    </group>

    <!-- BEGIN ROBOT 2-->
    <group ns="turtlebot02">
        <param name="tf_prefix" value="turtlebot02" />
        <include file="$(find turtlebot3_navigation)/launch/one_robot.launch" >
            <arg name="init_pose" value="-x -4 -y 1 -z 0" />
            <arg name="tf_prefix"  value="turtlebot02" />
        </include>
    </group>

    <include file="$(find turtlebot3_navigation)/launch/navigation.launch"/>

</launch>