Swarm robots simulation in gazebo and ROS
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con_robots.launch >> to launch simulation environment #make sure it prints on the terminal 'odom recieved!', if not terminate in the terminal(ctrl+c) and type 'killall gzserver' in the terminal then relaunch.
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Peer_detection.launch >> to launch the peer detection algorithm
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Leader_selection.launch >> to launch the leader selection algorithm
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Narrow_path_detection.launch >> to launch the narrow path detection algorithm
#make sure to give the navigation goal for the first time on RVIZ before running the formation algorithm
- Formation.launch >> to launch the Formation algorithm
for better formation make sure to decrease the velocity of the leader robot in the planner.yaml in param folder.
---prerequisites---
Navigation stack Map server Gazebo Rviz