Recently, we released several ROS packages for multi-robot exploration, including:
- explore_multirobot http://wiki.ros.org/explore_multirobot: is a multi-robot version of the explore package.
- map_merging http://wiki.ros.org/map_merging: merges multiple maps with knowledge of the initial relative positions of robots.
- tf_splitter http://wiki.ros.org/tf_splitter: decomposes the /tf topic into multiple ones.
- pose_publisher http://wiki.ros.org/pose_publisher: provides current position and orientation of the robot in the map.
These packages have been tested in ROS Groovy. However, Groovy is EOLed and there are no documentation or release jobs running anymore. We will test in more recent versions in order to improve our wiki.