https://github.com/jmcomets/ot-robo
https://github.com/jmcomets/ot-robo
Last synced: 4 months ago
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- Host: GitHub
- URL: https://github.com/jmcomets/ot-robo
- Owner: jmcomets
- Created: 2015-03-10T14:44:32.000Z (over 11 years ago)
- Default Branch: master
- Last Pushed: 2015-03-24T09:39:54.000Z (about 11 years ago)
- Last Synced: 2024-12-31T07:37:33.677Z (over 1 year ago)
- Language: C++
- Size: 1.13 MB
- Stars: 0
- Watchers: 4
- Forks: 0
- Open Issues: 0
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Metadata Files:
- Readme: README.md
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README
ot-robo
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# SLAM
Après un bringup, lancer :
- rplidar : `roslaunch rplidar_ros rplidar.launch`
- mapping : `roslaunch hector_mapping mapping_default.launch`
- planification : `rosrun slam_strategy planification`
- mouvement : `rosrun slam_strategy motion`
N.B. : le paquet `slam_strategy` risque de changer de nom.
# Communication multi-robots
1. Lancer `master_discovery` sur chaque machine.
2. Lancer `master_sync` sur les machines qui synchronisent (eg. toutes) avec
`_sync_topics:=['liste_des', 'topic_a', 'synchroniser']`.
3. It works.
Notes supplémentaires :
- `roslaunch master_sync_fkie master_sync _sync_topics=['broadcastMap']`
- Package `merge_map`
- Listener map forward la map de `hector_mapping` (topic /map) sur un topic /broadcastMap
- `listener_broadcast` écoute ce topic et affiche le header.
- À tester en réseau