lessleyh/pa2_msr

PA2_ Robotics Assignment

Lessley Herandez

Spring 21, COSC269

Purpose of Assingment

The purpose of this assingment is to introduce ROS, the simulator, and a behavioral based multirobot formation control.

Modifying the simulation for multirobots Implementing flocking behavior through simpler local behavior

The task

1- create a world in Gazebo simulator with 3 robots 2- Assuming that the robot can also get information about the other orientation and position, implement seperation, alignment, and cohesion behavior 3- The robot should not collide with any obstacle 4- Create a simulated world in stage, with 10 robots and test the same code in the simulator

Requirements

• ROS -- tested on Melodic, but other versions may work.
• colcon -- used for building the application.

Methods

How does your program work? What design decisions did you make?

To test the code:

roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

In a browser window run: http://localhost:8080/vnc.html

Evaluation

Does your program actually work? How well? If it doesn't work can you tell why not?

Well...I thought it worked,but it didn't

How to execute the file

In your workspace run:

docker-compose up --build

Once the terminal shows this as output:

Starting mac-ros_novnc_1 ... done
Starting mac-ros_ros_1   ... done

In a new terminal:

cd ros_workspace
docker-compose exec ros bash

roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

in another another terminal 
docker-compose exec ros bash
roslaunch simple_poly simple_poly.launch

Sources/ Inspiration

Adapted from the