Vision

A swarm of autonomous mobile robots are moving throughout a factory. They each have several items that they need to collect in order to finish an order. The scenario is inspired by the packing of Lego bricks for a bag, which is one part of what goes into Lego set. The robots should never collide and are thus equipped with sensors so that they themselves can avoid collision.

Directories

This repository consists of two projects

1. Simulation of a swarm of autonomous mobile robots
2. Robot-code used for communication between the actual swarm robot and Uppaal

For futher information and setup instructions check ReadMe in directories mentioned above

Map image conversion to point map

1. Install Ubuntu 16.04 virtual machine (easiest with VMware)
2. Follow Guide in order to install ROS (Robot Operating System) mainly ros-kinetic-desktop-full
3. Inside the virtual machine (running Ubuntu 16.04) install the map server using sudo apt-get install ros-kinetic-map-server
4. Store map image as well as map.yaml in a known location on VM and cd into it
5. Inside map.yaml correct the image location
6. Run roscore command. (if it fails to run make sure you did the source ~/.bashrc step)
7. Open new terminal and run the map server rosrun map_server map_server playground.yaml
8. In new terminal run rosrun rviz rviz
9. A new window shall open. Click button add next select By Topic tab and click Map and press OK.
10. One may navigate around the map using this tool and make changes.
11. Open new terminal and run rostopic list. This will show all the active topics in use right now, but the one of interest is /map. Now we may extract the map using rostopic echo map >> data.txt