Run simulation

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 is source /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 stop your robot, run rosrun gazebo_swarm_robot_tb3 gazebo_stop_robot

Current progress

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