https://github.com/argenos/sesame_multi_robot_navigation
https://github.com/argenos/sesame_multi_robot_navigation
Last synced: 3 months ago
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- Host: GitHub
- URL: https://github.com/argenos/sesame_multi_robot_navigation
- Owner: argenos
- Created: 2023-05-19T18:02:49.000Z (about 3 years ago)
- Default Branch: main
- Last Pushed: 2023-09-20T14:09:37.000Z (almost 3 years ago)
- Last Synced: 2025-06-10T02:39:49.837Z (about 1 year ago)
- Language: CMake
- Size: 43 KB
- Stars: 0
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# SESAME Multi Robot Simulation
## Installation
These instructions were adapted from the public [TIAGo Installation Tutorial](http://wiki.ros.org/Robots/TIAGo/Tutorials/Installation/InstallUbuntuAndROS) to include fixes to run a multi-robot simulation and install the ExSce Management tools.
Follow the necessary steps to [create a catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
Use `rosinstall` to clone all the required ROS packages. If you haven't cloned this repo, first get the rosinstall file, for example:
```bash
cd ~/catkin_ws
wget https://raw.githubusercontent.com/hbrs-sesame/sesame_multi_robot_navigation/main/pal_sesame.rosinstall
```
Then run rosinstall:
```bash
rosinstall src pal_sesame.rosinstall
```
Install the dependencies for the cloned packages:
```bash
rosdep install -y --from-paths src --ignore-src --rosdistro noetic --skip-keys "urdf_test omni_drive_controller orocos_kdl pal_filters libgazebo9-dev pal_usb_utils speed_limit_node camera_calibration_files pal_moveit_plugins pal_startup_msgs pal_local_joint_control pal_pcl_points_throttle_and_filter current_limit_controller hokuyo_node dynamixel_cpp pal_moveit_capabilities pal_pcl dynamic_footprint gravity_compensation_controller pal-orbbec-openni2 pal_loc_measure pal_map_manager ydlidar_ros_driver"
```
Build your workspace:
```bash
catkin build
```
Source your catkin workspace:
```bash
source devel/setup.bash
```
Finally, to check that everything works as expected, try launching a scenario:
```bash
roslaunch exsce_ros scenario.launch scenario_id:=scenario_x
```