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Introduction

Multibot is a ROS Kinetic package that allows for the simulation of multiple turtlebots in Gazebo, each with their own navigation stack, sharing a common map, and all visualized in rviz. Multibot works by loading multiple turtlebots into gazebo each inside their own namespace and with their own unique transform prefix. A common map is shared by the turtlebots so that rviz can properly compute transforms between the bots and display them all simultaneously.