run catkin_make
under catkin_ws
directory to build the package.
Follow these two steps to run auction-based task allocation algorithm.
-
generate precedence graph
Navigate to
catkin_ws/src/mrta/src
folder and rungenerate_pgraph.py
. This will generate/tmp/p_graph.pickle
file. -
start task allocation
roslaunch multi_robot_2dnav navigation.launch