To run simulation on your local machine, follow the steps
-
clone this repo to your machine and enter this repo
-
source your ROS environment, if your ROS is installed in
/opt/ros
and your ros version is neotic, then the command issource /opt/ros/neotic/setup.bash
-
run
catkin_make
-
run
source devel/setup.bash
according to the shell you use -
run
roslaunch gazebo_swarm_robot_tb3 gazebo_swarm_robot_5.launch
to start simulation platform -
run
rosrun gazebo_swarm_robot_tb3 gazebo_swarm_robot_control_angle
to run your angle control algorithm,- to run other algorithms, add target in CMakeLists.txt under
gazebo_swarm_robot_tb3
dir - use the command
rosrun gazebo_swarm_robot_tb3 your_target
- to run other algorithms, add target in CMakeLists.txt under
To stop your robot, run rosrun gazebo_swarm_robot_tb3 gazebo_stop_robot
Contorl robots to form queue, offered two methods
-
Based on the regidity of the graph, offered by @Smile, in
master
branch, for more details, check the commits message -
Based on the vector method, offered by @Sturmspatz, in
move_to_fix_point_queue
branch.-
Designed by @Sturmspatz, optimized by @Smile and uploaded by @Smile.
-
Robots can move to the given positions
-
Also add some modifications to rejection effect, focus on optimizing the sign of angular velocity to rotate more efficiently
-