Clone repo:
cd ~/catkin_ws/src/ && git clone https://github.com/prl-mushr/mushr_coordination.git
cd mushr_coordination && git clone https://github.com/whoenig/libMultiRobotPlanning.git
For adjusting params see launch/mushr_coordination.launch it has the environment params for the planner. Change number of Mushr Car in environment by setting parameter num_agent and change number of waypoints for each goal by setting parameter num_waypoint.
| Topic | Type | Description |
|---|---|---|
/{car_1's name}/waypoints |
geometry_msgs/PoseArray | Pathway assigned to car_1 |
| ... | ||
/{car_n's name}/waypoints |
geometry_msgs/PoseArray | Pathway assigned to car_n |
/{car_1's name}/marker |
visualization_msgs/Marker | Intermediate points of task(s) assigned to car_1 |
| ... | ||
/{car_n's name}/marker |
visualization_msgs/Marker | Intermediate points of task(s) assigned to car_n |
/mushr_coodination/border |
visualization_msgs/Marker | Borderline of the current setup environment for the planner |
| Topic | Type | Description |
|---|---|---|
/{car_1's name}/init_pose |
geometry_msgs/PoseStamp | Initial position of car_1 |
| ... | ||
/{car_n's name}/init_pose |
geometry_msgs/PoseStamp | Initial position of car_n |
/mushr_coordination/obstacles |
geometry_msgs/PoseArray | List of obstacles in the map |
/mushr_coordination/goals |
/mushr_coordination/GoalPoseArray | List of goals for {n} cars to complete |
std_msgs/Header Header
float64 scale #scala for converting continous space to grid space
float64 minx
float64 miny
float64 maxx
float64 maxy
geometry_msgs/PoseArray[] goals