Part I - Multi robot planning
Part II - Kalman filter
Part III - Particle filter
Part I
Launch command roslaunch motion start.launch
Initialize robots:
1) Set starting positions of the robot in "robot_start_positions.csv" file, which can be found in "data" folder.
The configuration is normal: x,y,theta
Each row is one robot
2) Consider x and y of goal position
3) Run command "python robot_input.py x y", where x and y are the considered coordinates
4) Check the output of terminal, it should state info about robots.
5) The info is stored in "robot_data.csv" file in "data" folder
Guide:
If you are working under any function/task, change top line to *IN PROGRESS*, commit and push it to repo with message like "MI - in progress" - this will let us know if work in progress and let us to avoid any merge conflict (git commit -m "MI - in progress").
!!! Don't forget to pull and fetch actual repo before you start working on (see command below) !!! !!! Don't forget to push after work is done and update this readme !!!
It would be also nice to indicate which function you are working on, for example: A* planning - *MI*
Finished work to be indicated as: A* planning - MI
Feel free to split any task on any number of sub-tasks, it's easier to do few small tasks rather than one big.
Install stdr_simulator and turtlebot_simulator packages yourself, because it depends on the version of ROS that you have
Useful Git commands:
To clone repo git clone https://github.com/Misha91/mkr_tm_ws.git
Check current status (files modified) git status
Stage files to be commited: git add --all
Commit: git commit -m "Message"
Push: git push
Pull and fetch: git pull git fetch
Ivanov & Uzakov