Flatland simulation for multi-robot

📗 Description

This repository contains a Flatland simulation using ROS Melodic to spawn and control multiple robots. Rosbags can be recorded for each simulated instance and replayed to control multiple robots.

🚀 Usage

Prepare your workspace

This container has a submodule dependency on the Flatland simulator repo, before running, make sure to sync your submodules:

git submodule update --init --recursive

Building image and running container

The package is built to run inside a Docker container that ensures all dependencies and requirements are met. To build the docker image run:

./docker/build.sh

A specific image name can be set using:

./docker/build.sh -i my_fancy_image_name

Then the docker container can be run via:

./docker/run.sh

Once the container is up and running resolve all remaining dependencies by running rosdep

rosdep install -i -y --rosdistro melodic --from-paths src

Finally the project is ready to be built:

catkin_make

Launching the simulation

To start the Flatland simulation, begin by sourcing the ROS workspace:

source devel/setup.bash

Then launch the simulation using the provided launch file:

roslaunch flatland_demo flatland.launch

The launchfile accepts multiple configuration options"

Configuration Options

• multi_robot: Whether or not to launch a multi-robot simulation. The number of robots and their initial positions are defined in config/robots.yml.
• world_path: Path to world.yaml file
• use_flatland_viz: Show visualization, pops the flatland_viz window and publishes visualization messages, either true or false.
• use_rviz: Works only when use_flatland_viz=true, set this to disable flatland_viz popup
• viz_pub_rate: Rate to publish visualization in Hz, works only when show_viz=true
• update_rate: The real time rate to run the simulation loop in Hz

Replaying rosbags

In order to control multiple robots, previously recorded trajectories can be replayed by running;

roslaunch flatland_demo play_n_rosbags.launch nr:=N

Where nr defines the amount of rosbags to be replayed. Recorded rosbags are stored inside scripts/rosbags folder.

Contributing

Contributions are always welcome. If you're interested in contributing, please refer to the CONTRIBUTING

Pre-commit configuration

This projects uses pre-commit hooks for linting. To install and make sure they are run when committing:

python3 -m pip install -U pre-commit
pre-commit install

If you want to run the linters but still not ready to commit you can run:

pre-commit run --all-files

Code of Conduct

The free software code of conduct fosters an inclusive, respectful community for contributors by promoting collaboration and mutual respect. For more details, refer to the full document Code of Conduct.