Installation

Simply clone this repository inside ROS workspace and run catkin_make in workspace root.

Simulation part uses stage_ros simulator.

Usage

Simulation:

1. roslaunch sphero_path_following launch1.launch
2. roslaunch sphero_path_following launch_path.launch
3. roslaunch sphero_path_following launch_reynolds.launch

Flocking algorithm parameters can be changed during runtime with rqt_reconfigure.