A ROS package to simulate a fleet of robots.

Table of Contents

• Installation
  • Dependencies
  • Install instructions
• Usage
  • Single robot simulation
  • Multi robot simulation
    • Generating the configuration files
    • Launching the multi-robot simulations

Installation

Dependencies

1. ROPOD sim model
2. TEB local planner

Install instructions

1. Install dependencies

   sudo apt install -y ros-kinetic-teb-local-planner
   

2. Setup the catkin Workspace

   mkdir -p ~/catkin_ws/src/simulation
   cd ~/catkin_ws
   wstool init src/simulation
   wstool merge -t src/simulation https://raw.githubusercontent.com/Sushant-Chavan/multi_robot_sim/kinetic/multi-robot-sim.rosinstall
   wstool update -t src/simulation
   # rosdep install --from-paths src/simulation --ignore-src --rosdistro=kinetic -y
   

3. Build and source the packages

   catkin build
   source ~/catkin_ws/devel/setup.bash
   

Usage

Single robot simulation

1. Start the default simulation configuration using the below command

   roslaunch ropod_single_robot_sim single_robot_sim.launch
   

2. To spawn the robot at a different pose, you can use the init_x, init_y and init_theta (in radians) arguments as follows:

   roslaunch ropod_single_robot_sim single_robot_sim.launch init_x:=1.0 init_y:=10.0 init_theta:=1.571
   

3. Several other arguments are available and can be looked up in the launch file.

Multi robot simulation

Generating the configuration files

1. Assuming you wish to generate configuration files for the brsu map. You can use the below command to generate all the necessary config files need for multi-robot simulations. This command sets up the simulations with 2 robots.

   roscd multi_robot_sim
   python3 ros/scripts/generate_multi_robot_launch.py brsu
   

2. The --nRobots parameter can be used to generate configuration files for N robots. For example to generate config files for 3 robots, use the command

   python3 ros/scripts/generate_multi_robot_launch.py brsu --nRobots 3
   

3. You can setup custom spawn poses for the robots as yaml config files. For example brsu_init_poses.yaml. You can use these poses to spawn the robots using the --custom_poses parameter as shown below

   python3 ros/scripts/generate_multi_robot_launch.py brsu --custom_poses
   

Launching the multi-robot simulations

1. After generating the necessary config file, launch the simulation using the below command

   roslaunch multi_robot_sim multi_robot.launch
   

2. If you wish to not launch Gazebo client, use the below command

   roslaunch multi_robot_sim multi_robot.launch gui:=false