swarm-robotics's Introduction

Vision

OBS: The Robot-Code project is out of date and will not run.

Please see the installation instructions in the Simulation project.

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

Simulation of a swarm of autonomous mobile robots
Robot-code used for communication between the actual swarm robot and Uppaal (Out of date)

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

Map image conversion to point map

Install Ubuntu 16.04 virtual machine (easiest with VMware)
Follow Guide in order to install ROS (Robot Operating System) mainly ros-kinetic-desktop-full
Inside the virtual machine (running Ubuntu 16.04) install the map server using sudo apt-get install ros-kinetic-map-server
Store map image as well as map.yaml in a known location on VM and cd into it
Inside map.yaml correct the image location
Run roscore command. (if it fails to run make sure you did the source ~/.bashrc step)
Open new terminal and run the map server rosrun map_server map_server playground.yaml
In new terminal run rosrun rviz rviz
A new window shall open. Click button add next select By Topic tab and click Map and press OK.
One may navigate around the map using this tool and make changes.
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

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