/Final-Project_Group-3

MIT LicenseMIT

Build Status Coverage Status License: MIT

Acme's Autonomous Robot

Disclaimer

  • License: MIT
  • License File: LICENSE (in the project directory)

Project Overview and Description:

  • For the final project, me and my teammate have decided to choose multi-robot/swarm action category for Acme’s new line up of autonomous robots. These are developed as part of a 5 year product road map for ACME in developing their fleet of autonomous. We will work on the deliverables and provide a high-quality solution following the essential software engineering practices which they can directly integrate into their product.

  • We will deploy a swarm of 20 turtlebots, which will collectively perform a task of crossing a narrow passage. Their default pattern will be a square or rectangle.

  • swarm_robot_ros_sim contains packages each of which features a set of functionalities for this simulation platform:

  • swarm_robot_description package describes the robot models and simulation environment initialization files.

  • swarm_robot_msgs folder contains packages for customized messages, services and actions that will be used in other packages.

  • swarm_robot_controller package contains the low level controllers for the swarm robots.

  • swarm_robot_simulation package contains the swarm algorithms.

My Image

Purpose of the Project

  • The purpose this project is to deploy simple swarm algorithm on 21 bots to form and deform a pattern in order to navigate a narrow passage. linear curve fitting algorithm be used to realize the line formation and simulate the project in Gazebo.

Personnel:

  • Dhinesh Rajasekaran
    • UID: 119400241
  • Arshad Shaik
    • UID: 118438832

Requirements:

  • Ubuntu 20.4
  • VS Code/Terminal
  • Gazebo
  • ROS1 noetic

AIP Google Sheet

Shareable link to sprint planning notes and review Google Doc

Dependencies

  • doxygen (run below command to install) 
    sudo apt install doxygen
  • lcov (run below command to install) 
    sudo apt install lcov

ROS msg/srv

  • Please find 'src' folder of this repository to know more about the messages and services

Sections for Stubs:

  • The test case will subscribe to the topic and check for the expected output

How to build, run & test from command line

  • Navigate to workspace
cd ..
catkin_make
cd catkin_ws
source devel/setup.bash

roslaunch swarm_robot_description two_wheel_robot.launch robot_quantity:=20 half_range:=0.5
rosrun swarm_robot_simulation two_wheel_robot_line_formation _spring_length:=0.7 _sensing_range:=2.0

Test

cd catkin_ws
source devel/setup.bash
catkin_make <tests>

Command to check Google Style

  • From the Final-Project_Group-3 folder src directory, run the below command
cpplint --filter=-build/c++11,+build/c++17,-build/namespaces,-build/include_order subscriber.cpp publisher.cpp > ./../results/cpplintreport

Command to run static code analysis

  • From the Final-Project_Group-3 folder src directory, run the below command
cppcheck --enable=all --std=c++17 *.cpp --suppress=missingIncludeSystem --suppress=missingInclude --suppress=unmatchedSuppression > ./../results/cppcheckreport

Command to generatte doxygen documentation

doxygen <cpp file>
cd html
firefox index.html

Demo PPT and Video