About

Heavily modified and forked from https://github.com/mkrizmancic/sphero_formation.

This is a modified repository meant to explore braitenberg bahviour in flocks.

Installation

Simply clone this repository inside ROS workspace and run catkin_make in workspace root.

Simulation uses stage_ros simulator.

Some ros packages may be required for download (check build/run-time errors)

Usage

1. Set values for all desired parameters inside launch/setup_sim.launch.
2. Set initial velocities in cfg/sphero_init_vel.cfg.
3. In first terminal run roscore (optional)
4. In second terminal run roslaunch sphero_formation setup_sim.launch
5. In third terminal run roslaunch sphero_formation reynolds_sim.launch