SWARMBOTS

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Table of Contents

• Collaborators
• Description
• Tech stack
• Installation
• Usage

Collaborators

Name	Github
Kelly Duan	celry
Evalyn Berleant	eberleant

Description

SWARMBOTS allows multiple robots in a swarm to collaboratively map their environment. At any time, there is a single leader (the swarmboss) whose movement dictates the behavior of the other robots in the swarm, who may follow or disperse from the leader. 🤖🦠

Tech stack

• ROS melodic
• Gazebo 9.0.0
• Python 2.7.17
• multirobot_map_merge

Installation

1. Clone the repo into catkin_ws/src: git clone https://github.com/campusrover/swarmbots.git
2. Clone map merge into catkin_ws/src: git clone https://github.com/hrnr/m-explore.git
3. Run catkin_make from the catkin_ws directory

Usage

• run world and initial robots: roslaunch swarmbots main.launch world:=stage_4 robots:=2
  • change world by setting world:=[world name in world folder]
    • recommended worlds: stage_4, swarmbots
  • change number of robots by setting robots:=[# of robots]
• toggle swarm orders: rosrun swarmbots command.py
• view map in rviz:
  • launch rviz
  • set Fixed Frame to world
  • Add by topic /map
• save maps for future use: roslaunch swarmbots savemap.launch robots:=2
  • save maps of robots running and the merged map
  • change number of robots by setting robots:=[# of robots]