Heterogeneous-robots-ws

This repository includes a variety of robot models and a single launch file for launching many robots inside a simulation. The purpose of this repository is to make the process of spawning various robots simpler and more comfortable for the user. This repository allows the user to launch many robots with a single command, speeding simulation setup and decreasing preparation time. Whether you are investigating novel robot models or doing sophisticated simulations, this repository offers a straightforward and effective solution for your requirements.

This repository contains various types of robots, including:

1. Mobile robots
2. Manipulator robots
3. Drone robots

The collection of mobile robots in particular is extensive, offering a variety of models, including:

• Two-wheeled robots
• Four-wheeled robots
• Simple robots
• Neuronbot robots

Each model has been carefully crafted and optimized for use in simulations, providing the user with a diverse range of options for their needs. Whether you are exploring new robotic designs or running complex simulations, this repository has you covered with its comprehensive collection of robots.

1. clone the repository: git clone https://github.com/khalidbourr/Heterogeneous-robots-ws.git
2. import your world inside cd Heterogeneous-robots-ws/src/Hetero_robots/src/multi_robot/worlds
3. in case of new model "custom_model", copy it inside :cd Heterogeneous-robots-ws/src/Hetero_robots/src/multi_robot/worlds/custom_model
4. and then inside gazeebo, example below:

cd Heterogeneous-robots-ws/src/Hetero_robots/src/multi_robot/worlds
sudo cp -r custom_model ~/.gazebo/models

4- The launch file in this repository can be modified to specify the type and model of the robots being spawned. In the robot_type argument, you can select between mobile_robot, manipulator_robot, or drone.

  <include file="$(find multi_robot)/launch/one_robot/robot.launch">
    <arg name="namespace" value="$(arg ns1)"/>
    <arg name="x_pos" value="0.0"/>
    <arg name="y_pos" value="0.0"/>
    <arg name="z_pos" value="0.0"/>
    <arg name="yaw" value="0.0"/>
    <arg name="robot_type" value="mobile_robot"/>
    <arg name="model_name" value="two_wheels"/>
    <arg name="file_type" value="urdf"/>
  </include>

5- build the workspace

cd Heterogeneous-robots-ws/
rosdep install --from-paths src --ignore-src -r -y
catkin_make

6- Launch the simulator with the robots specified.

source devel/setup.bash
roslaunch multi_robot multi_robot.launch