M
Repository to simulate a team of robots on a map in Gazebo. Team can be up to 4 UAV HectorQuadcopter and 3 UGV – ReadMe.md

ReadMe.md

Multi Robot Simulation

Repository to simulate a team of robots on a map in Gazebo. Team can be up to 4 UAV HectorQuadcopter and 3 UGV


image info

Installation

Please mind the ROS distro when downloading git repos.

  • Clone this repo to the src/ folder in your catkin Workspace
cd ~/catkin_ws/src
git clone https://gitlab.ensta.fr/ssh/multi-robot.git
git clone https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor.git
  • Define your path to install the packages with rosinstall (replace {distro} with your ROS distro, are whatever path your want) :
rosinstall . /opt/ros/{distro}/
  • Source the newly created setup.bash file in your catkin workspace :
source /home/toralba/catkin_ws/src/setup.bash
  • Use the rosinstall file provided by hector_quadrotor to install all the mandatory packages :
rosinstall . hector_quadrotor/hector_quadrotor.rosinstall
  • re-source your setup.bash file (to be confirmed) :
source /home/toralba/catkin_ws/src/setup.bash

Before getting the dependencies, install all the mandatory packages to use the Summit XL rover model :

  • Clone repos for Summit XL simulation and its own dependencies :
git clone https://github.com/RobotnikAutomation/summit_xl_common.git
git clone https://github.com/RobotnikAutomation/robotnik_msgs.git
git clone https://github.com/RobotnikAutomation/robotnik_sensors.git
git clone https://github.com/RobotnikAutomation/summit_xl_sim.git
  • Add outdoor agricultural, inspection and indoor office simulation worlds for Gazebo :
git clone https://github.com/clearpathrobotics/cpr_gazebo.git
  • Finally, get all the dependencies with rosdep and compile the new packages :
cd ..
rosdep install --from-paths src --ignore-src -r -y
catkin_make

Usage

Launch a simulation with

roslaunch multi_robot team.launch

Feel free to create your own launch file

Performance

In the bottom of the GUI of Gazebo, a real time factor is displayed, if it's not equal to 1, your computer is not strong enough to handle the load. You could also switch to a headless simulation on a remote server.

Tutorial

Package based on the tutorial

YouTube

YouTube

YouTube

ROS Answer