We successfully simulated the Adhoc_communication node as well as the Map Merging node, the result which can be seen in the animated gif at the bottom. A stage simulation of a small map with 3 robots, two of the robots are publishing individual maps using gmapping the produced maps are then merged in the map_merger node. The merged map is then published and is being represented in RVIZ.
As we can see, the updated global map in RVIZ is refreshing at a relatively slow rate, this is due to the gmapping speed as well as the update speed of the map_merger. Note that the RVIZ representation isn't aligned with the STAGE simulation
This simulation is based on the work of OSLL/multibot (see: https://github.com/OSLL/multibot) a fork of aau-ros/aau_multi_robot project (see: https://github.com/aau-ros/aau_multi_robot)
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