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Overview

The multi robot framework can be used in several different configurations.

Path Generation

One can either use the Voronoi Graph Node or the Segment to Graph Node to generate the search graph, where the Voronoi Graph Node generates a Graph, which covers the whole map and the Segment to Graph Node generates a custom defined search Graph.

Robot Control

To control the robots one can use a custom controller (e.g. the DWA from move_base) in combination with the local behavior controller which takes care of synchronization with other robots and provides an ordinary nav_msgs/Path message. For tests with a large number of robots the multi_segment_controller_node is provided which directly uses synchronous tuw_multi_robot_msgs/Route messages and controls all robots simultaneously. This is advantageous for performance reasons.

Quick Start

roslaunch tuw_multi_robot_demo demo.launch cfg:=robot_2 room:=cave

Parameters

room default: "cave"

• sets the map used

use_rviz default: "true"

• starts rviz with the given cfg

use_stage default: "true"

• starts stage with the given room (and defined robots in it)

use_map_server default: "true"

• starts the map server with the given room

use_planner default: "true"

• runs the multi robot router

use_controller default: "true"

• starts the robot controller

use_graph_generator default: "true"

• starts the graph generator which converts maps into the used search graphs

cfg default: "default" (2 robots)

• loads the config for the scenario

use_path_synchronizer default: "false"

• used to convert segment paths to synchronized paths

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]