pathplanning_simulation

Installing prerequisites

First of all, you can use the install_ros_gazebo.sh. In that case you have to download it separately, skip 3 upper steps and skip installing required python libraries.

1. Install ROS Kinetic

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

$ sudo apt-get update

$ sudo apt-get install ros-kinetic-desktop-full

$ sudo rosdep init
$ rosdep update

$ echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

2. Install Gazebo

$ sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control

3. Install turtlebot packages

$ sudo apt install ros-kinetic-turtlebot

4. Initialize catkin workspace

$ cd {custom_path}/catkin_ws/src
$ catkin_init_workspace
$ cd ..
$ mkdir -p {custom_path}/catkin_ws/src
$ cd {custom_path}/catkin_ws/
$ catkin_make

$ echo "source {path_to_catkin_ws}/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

Setting up pathplanning_simulation prerequisites

stringtemplate3

$ sudo apt install python-stringtemplate3

Antlr

$ sudo apt install python-antlr

Compile pathplanning_simulation

Optional: Install git

$ sudo apt install git

Clone and compile repository

$ cd {path_to_your_catkin_workspace}/src
$ git clone https://github.com/PathPlanning/MultiRobotPathFinding-ROS-Gazebo-Demo.git
$ cd ..
$ catkin_make

Run

1. Generate world and launch files

$ roslaunch pathplanning_generator generate_world.launch
$ Ctrl+c

2. Run simulation

$ roslaunch pathplanning_gazebo turtlebot_world.launch

$ roslaunch pathplanning_mover2 run_agents.launch