Controlling a Swarm of Robots in a Simulator Stage using Reynolds Rules

Multi-Robot systems course project

Faculty of Electrical Engineering and Computing in Zagreb

2023./2024.

Download Docker simulator

Start Docker Container

In one terminal copy/paste :

  

sudo  docker  start  -i  mrs_project_2

  

I other terminal copy/paste

  

sudo  docker  exec  -it  mrs_project_2  bash

  

your terminal prompt should change from

  

<your username>@<your hostname>

  

to

  

developer@<your  hostname>

  

This signals that you are currently "inside" the container.

Clone and build the project

• Clone this project in: ~/catkin_ws/src

  

git  clone  https://github.com/bornaparo/mrs_project_simulation.git

  

• Build: $: ~/catkin_ws/

  

catkin  build

  

Lunch the maps

• Copy files from : /home/developer/catkin_ws/src/mrs_project_simulation/launch_for_sphero_simulation

• to : /home/developer/catkin_ws/src/sphero_simulation/sphero_stage/launch

Note : you must override original start.py from sphero_stage/launch

If everything is set up correctly you can launch and try various maps:

  

roslaunch  mrs_project_simulation  simple_maze_map_launch.launch

  

  

roslaunch  mrs_project_simulation  empty_map_launch.launch

  

  

roslaunch  mrs_project_simulation  hard_maze_map_launch.launch

  

  

roslaunch  mrs_project_simulation  test_map_launch.launch

  

Videos:

Empty Map

Hard Maze Map

Simple Maze Map

Test Map