swarm_simulator

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

Prerequisites : -> Install Gazebo with ROS. Follow Gazebo Install.

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.

-> 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