/singleRobot

Controls N agents by deploying the same code N times using ROS for Swarm behavior simulation.

Primary LanguageC++

Single Robot

Description: Controls N agents by deploying the same code N times using ROS for Swarm behavior simulation.

Dependencies: ROS, Gazebo, Swarm Simulator

======Usage:======

  1. Clone this Repository.

  2. Run the Swarm Simulator. [Swarm Simulator Repository should be in the system]

$ roslaunch swarm_simulator swarm.launch ''
  1. Generate the launch file for the singlerobot package for n-agents
roscd singlerobot
bash scripts/generator.sh <number of agents>
  1. Launch the singlerobot nodes.
roslaunch singlerobot singlerobot.launch

The messages are published at /swarmbot0/message and similarly for others.

======TODO:======

  1. Subscribe to encoder data for single robot and generate path from that.