This package contains all the scripts and files required to use the PMADMU-planner. The PMADMU-planner is a multi-agent path planning algorithm with which robots can be transferred into a predefined formation. It's functionality is described in the masters thesis "Entwicklung einer skalierbaren Multiagenten-Pfadplanung zur Formationsbildung für nicht-holonome mobile Roboter" which was written at the "Institut für Montagetechnik" (match) at the Leibniz Universität Hannover.
Author: Max Westermann E-Mail: [email protected]
This project requires ROS noetic and python 3.8 or newer. Add this project as a package to the catkin workspace. Also add/install the following:
Required Python Libraries:
Required Packages:
- cv_bridge https://index.ros.org/p/cv_bridge/
- tf2_sensor_msgs https://wiki.ros.org/tf2_sensor_msgs
To use this project with the MIR600 Platforms at Scale use the following commands in that specific order. To use the project in a simulated environment use the commands listed under "Usage SIM".
*** LAUNCH ON ROSCORE: login via "ssh roscore" *** roscore
*** LAUNCH ON ROBOTS: login via "ssh mur620x" (replace x with a, b, c, d) and paste the 2 commands for each robot x. *** ROS_NAMESPACE=mir1 roslaunch mir_launch_hardware mir_600.launch tf_prefix:=mir1 roslaunch formation_builder launch_follower_single.launch robot_id:=1
ROS_NAMESPACE=mir2 roslaunch mir_launch_hardware mir_600.launch tf_prefix:=mir2 roslaunch formation_builder launch_follower_single.launch robot_id:=2
ROS_NAMESPACE=mir3 roslaunch mir_launch_hardware mir_600.launch tf_prefix:=mir3 roslaunch formation_builder launch_follower_single.launch robot_id:=3
ROS_NAMESPACE=mir4 roslaunch mir_launch_hardware mir_600.launch tf_prefix:=mir4 roslaunch formation_builder launch_follower_single.launch robot_id:=4
*** LAUNCH ON MAIN PC *** roslaunch formation_builder launch_rviz_only.launch roslaunch formation_builder launch_map_reader.launch roslaunch formation_builder central_controller.launch
To use this project in an simulated GAZEBO-environment use the following commands in that specific order. To use the project at SCALE use the commands listed under "Usage SCALE".
roslaunch formation_builder launch_four_robots.launch roslaunch formation_builder launch_map_reader.launch roslaunch formation_builder launch_followers.launch roslaunch formation_builder launch_central_controller.launch
In the current version, target positions and priorities cannot be specified within the launch file nor by a ROS-Interface. To adjust the values, the position values must be adjusted at the end of the central_controller.py file.