guptadivyansh / singleRobot

Controls N agents by deploying the same code N times using ROS for Swarm behavior simulation.

Single Robot

Description: Controls N agents by deploying the same code N times using ROS for Swarm behavior simulation.

Dependencies: ROS, Gazebo, Swarm Simulator

======Usage:======

1. Clone this Repository.

2. Run the Swarm Simulator. [Swarm Simulator Repository should be in the system]

$ roslaunch swarm_simulator swarm.launch ''

3. Generate the launch file for the singlerobot package for n-agents

roscd singlerobot
bash generator.sh <number of agents>

4. Launch the singlerobot nodes.

roslaunch singlerobot singlerobot.launch 

The messages are published at /swarmbot0/message and similarly for others.

======TODO:======

1. Implement a naive path planner to take robot from Point A to Point B.

2. Subscribe to encoder data for single robot and generate path from that.