bhatakti-atama / self_arrranging_swarm_bots

Self Arranging Swarm Robots

Made as a first project in swarm robotics mainly for learning purposes. Turtlebots arrange themselves in the pattern inputed by the user

Requirements:

Libraries :

• ROS Melodic
• OpenCv 3.2
• PyGame

ROS Packages :

• turtlebot3
• turtlebot3 Messages
• turtlebot3_simulations

Brief overview of the package:

launch :

• guiTest.launch - test for the pygame gui
• robot.launch - sub-part of swarm.launch
• swarm.launch - this is the main launch file which launches the complete system.
• trial1.launch - launch file for a single bot
• swarmTest.launch - same as swarm.launch but has camera and lighting

msg :

The custom message is used for sending information on which pattern the bots will be arranged :

• Pattern.msg defines an array of size 6 of Points
• Point.msg is th defination of a single Point i.e x and y

src :

• convert.cpp - this nodes converts data published in quantenerion angle system to euler angle system and publishes the converted data under "odomTrans"
• driver.cpp - Now redundant and has been replaced with driverNew this node drives the bot to the targeted point
• driverNew.cpp - Does the same job as driver.cpp but useses a better method to model the diffrential drive bot
• gui2.py - node for the pygame gui
• key_publisher.py - node for keyboard imputs
• position_publisher - this node is used for testing a single bot. this node publishes information on which position a particular bots need to go
• position _publisher_node - this node takes information about the pattern the bots should be and then assigns a particular point to a bot based on distance ( i.e it selects a bot that is least distant from the point). this node controlls 6 bots but can be modified to controll more or less bots
• openTry.py -This node is under development will be used for pose detection currently detects position but not orientation

Worlds :

• contains empty world with camera and light

if some file was not mentioned then the file is not relevant but if you gent any doubt please feel free to ask