0
点赞
收藏
分享

微信扫一扫

ROS(indigo)swarm_robot 群机器人示例Gazebo

niboac 2022-04-02 阅读 113


ROS(indigo)swarm_robot 群机器人示例Gazebo

参考网址:​​https://github.com/yangliu28/swarm_robot_ros_sim​​

安装提示:catkin_make。


~/catkin_ws$ catkin_make

可能需要下载一些文件,比如catkin_simple。


示例:

1. 两轮机器人分散仿真:


~$ roslaunch swarm_robot_description two_wheel_robot.launch robot_quantity:=20 half_range:=0.5

ROS(indigo)swarm_robot 群机器人示例Gazebo_linux


~$ rosrun swarm_robot_simulation two_wheel_robot_dispersion _spring_length:=0.7 _sensing_range:=2.0

ROS(indigo)swarm_robot 群机器人示例Gazebo_机器人_02

2. 两轮机器人聚集仿真:


rosrun swarm_robot_simulation two_wheel_robot_aggregation _sensing_range:=1.5

ROS(indigo)swarm_robot 群机器人示例Gazebo_linux_03

3.  一字队形


rosrun swarm_robot_simulation two_wheel_robot_line_formation _spring_length:=0.7 _sensing_range:=2.0

ROS(indigo)swarm_robot 群机器人示例Gazebo_linux_04

ROS(indigo)swarm_robot 群机器人示例Gazebo_机器人_05

ROS(indigo)swarm_robot 群机器人示例Gazebo_机器人_06

ROS(indigo)swarm_robot 群机器人示例Gazebo_机器人_07

4. 增加或减少机器人


rosrun swarm_robot_description two_wheel_robot_batch_add _robot_quantity:=10 _half_range:=1.0


ROS(indigo)swarm_robot 群机器人示例Gazebo_机器人_08

ROS(indigo)swarm_robot 群机器人示例Gazebo_linux_09


举报

相关推荐

0 条评论