Online visualization tool for Swarm-SLAM

Installation

• Build the visualization tool in a ROS 2 workspace with colcon build.
• Install the Zenoh DDS bridge for ROS 2 to avoid flooding the network with discovery messages and unwanted communication.
• If you don't want to use Zenoh, run the following commands without the ROS_DOMAIN_ID

Run the visualization station

ROS_DOMAIN_ID=100 ros2 launch cslam_visualization realsense_visualization.launch.py
zenoh-bridge-dds -d 100 --allow /cslam/.*

Run Swarm-SLAM on the robots (Realsense D400 example)

ROS_DOMAIN_ID=$ROBOT_ID ros2 launch cslam_experiments experiment_realsense.launch.py robot_id:=$ROBOT_ID
zenoh-bridge-dds -d $ROBOT_ID --allow /cslam/.*