This is the simulator for the Swarm Robotics project at IIT Kharagpur. The simulator is based on Gazebo, interfaced using ROS (Robot Operating System).
Prerequisites :
- Install Gazebo with ROS. Follow Gazebo Install.
To get started :
- Clone the repo as :
$ git clone https://github.com/Swarm-IITKgp/swarm_simulator.git swarm_simulator
- Make sure $GAZEBO_MODEL_PATH is set in ~/.bashrc or set it to the location it is. If not, then add the following line to .bashrc:
export GAZEBO_MODEL_PATH=<path to gazebo models folder>
-
Alternatively, you can copy the models folder to the gazebo hidden directory in the home folder, i.e:
~/.gazebo/models -
Add the following lines to your ~/.bashrc file at the end:
source <path to catkin_ws>/devel/setup.bash
-
Close the current window and open a new terminal.
-
To generate the launch file :
$ roscd swarm_simulator
$ bash scripts/generator.sh [number of agents]- To launch the simulator :
$ roslaunch swarm_simulator swarm.launch- To check the published obstacle list :
$ rostopic echo /obstacleList