Skip to content

Latest commit

 

History

History
45 lines (34 loc) · 1.2 KB

README.md

File metadata and controls

45 lines (34 loc) · 1.2 KB

swarm_simulator

This is the simulator for the Swarm Robotics project at IIT Kharagpur. The simulator is based on Gazebo, interfaced using ROS (Robot Operating System).

Prerequisites :

To get started :

  • Clone the repo as :
$ git clone https://github.com/Swarm-IITKgp/swarm_simulator.git swarm_simulator
  • Make sure $GAZEBO_MODEL_PATH is set in ~/.bashrc or set it to the location it is. If not, then add the following line to .bashrc:
export GAZEBO_MODEL_PATH=<path to gazebo models folder>

  • Alternatively, you can copy the models folder to the gazebo hidden directory in the home folder, i.e: ~/.gazebo/models

  • Add the following lines to your ~/.bashrc file at the end:

source <path to catkin_ws>/devel/setup.bash

  • Close the current window and open a new terminal.

  • To generate the launch file :

 $ roscd swarm_simulator
 $ bash scripts/generator.sh [number of agents]
  • To launch the simulator :
 $ roslaunch swarm_simulator swarm.launch
  • To check the published obstacle list : 
 $ rostopic echo /obstacleList