/Multi-Robot-Systems

based on ROS

Primary LanguageCMake

89-689 Multi-Robot Systems

Todo

  • backup : slide and code
  • gazebo_navogation_multi

Usage

1. Simulating multiple robots in Stage

$roslaunch stage_multi stage_multi.launch

2. Robots Synchronization

$rosrun multi_sync monitor 4
$roslaunch stage_multi stage_multi.launch

3. Find Robots Position

$roslaunch tf_multi tf_multi.launch
$rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=robot_0/cmd_vel

4. Leader-Follower Formation

$roslaunch tf_multi tf_multi.launch
$rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=robot_0/cmd_vel

5. Running the Navigation Stack

$roslaunch navigation_stage move_base_multi_robot.launch

6. Using the Navigation stack

$roslaunch navigation_multi navigation_multi.launch
$roslaunch navigation_multi send_goals.launch

7. Spanning and Controlling multiple robots in Gazebo

$roslaunch gazebo_multi gazebo_multi.launch

8. Running Navigation Stack in Gazebo

$roslaunch gazebo_navigation_multi gazebo_navigaiton_multi.launch

Thanks