SwarmFlowVR - ROS Workspace

To configure SwarmFlowVR for a given swarm of ROSbots:

1. Update rosbot_swarm_control.launch with the correct IP address for the mocap server and with the names of the ROSbots in your swarm.
2. Open ROSBotSwarm.py and update the list of names of ROSbots on line 38.

To run SwarmFlowVR:

1. Open a terminal and in this repository's root workspace and type:

source devel/setup.bash

roslaunch /src/adam_thesis/launch/rosbot_swarm_control.launch

2. For each ROSbot in the swarm, open a terminal in this repository's root workspace and type:

./startRobot.sh [ROSbot name]

High-Level Description

• Each ROSbot is managed by a waypoint handler. The waypoint handler's job is to give the ROSbot velocity commands to move the ROSbot from its current position/orientation to the target waypoint position.
• The waypoint handler receives target waypoint positions from the VR counter-part of SwarmFlowVR.
• The waypoint handler receives position/orientation from the mocap server.
• The ROSBotSwarm.py script:
  • Runs all ROSbot waypoint handlers,
  • Stops all ROSbots if any ROSbots get too close to each other,
  • Displays the published battery voltage of each ROSbot.