ARF_CONTROLLER

An Artificial Potential Field Controller is built to drive multi robot system from one position to another without colliding with each other.The system is simulated in Gazebo.

Create a Workspace

mkdir -p ~/apf_ws/src

cd ~/apf_ws/

catkin_make

Source your Workspace

source devel/setup.bash

Note: Either put it permanently in bashrc or source it for every new terminal opened.

Clone this repository in your workspace source folder

git clone https://github.com/Tashmoy966/ARF_CONTROLLER.git

Clone the official volta ROS package into your source folder

Note: Its better to keep every thing in a common directory eg volta

git clone https://github.com/botsync/volta.git

git cone https://github.com/botsync/volta_simulation.git (Simulation Essentials)

Build Your Workspace

catkin_make

Launch the Multi Robot System

Start the roscore

Launching MRS Group : roslaunch airl_mrs start.launch

Start the ARF controller :rosrun airl_mrs apf_controller.py --goal_center 10.0 10.0

Note: Due to ros distro version conflicts sometimes control spawner doesn't works for simulating volta robot in Gazebo

An alternative is to use other robot models to testing

Turtelbot3 can be used:

Installing Tb3 ROS Packages to your source folder

git clone https://github.com/ROBOTIS-GIT/turtlebot3.git

git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git

Build Your Workspace

catkin_make

Launch the Multi Robot System

Start the roscore

Launching MRS Group : roslaunch airl_mrs main.launch

Start the ARF controller :rosrun airl_mrs apf_controller.py --goal_center 10.0 10.0