Monorepo for the swarm bot design project.

Install Isaac sim. See install instructions Also make sure to setup cache and nucleus as instructed.

Install ROS Noetic.

Install catkin tools.

If not already done so, install rodep. Follow steps up to and including 2.2.

Install ROS Navigation stack: sudo apt-get install ros-$ROS_DISTRO-navigation.

Go to the root of this workspace. Run the rosdep command to install any missing dependencies: rosdep install --from-paths src --ignore-src -r -y.

Build the workspace: catkin build Source the workspace: source devel/setup.bash

1. Run roscore. Source this workspace.

2. Run roslaunch fydp_mapping multiple_robot_navigation.launch. This starts the navigation stack.

3. Run roslaunch fydp_mapping topic_inject.launch. This starts the nodes responsible for remapping frames and namespaces.

4. Run roslaunch fydp_mapping merge_multiple_map.launch. This starts the merge mapping nodes.

5. Run roslaunch fydp_mapping dock_commands.launch command:=u. This starts the undocking sequence for robots.

6. Run rosrun fydp_mapping map_listener.py which starts a listener node responsible for starting the mapping process once it recieves confirmation. Alternatively, run roslaunch fydp_mapping fydp_slam_toolbox_map.launch to trigger this process manually.

7. Run rosrun fydp_mapping explore_listener.py which starts a listener node responsible for starting the exploration process once it recieves confirmation. Alternatively, run roslaunch explore_lite explore_slam_costmap_multi_robot.launch to trigger this process manually.

8. Navigate to swarm/src/fydp_mapping/launch/

9. Source workspace. Run roslaunch fydp_mapping multiple_robot_navigation.launch

10. Source workspace. Run roslaunch fydp_mapping topic_inject.launch

11. Source workspace. Run roslaunch fydp_mapping dock_commands.launch command:=u

12. Source workspace. Run roslaunch fydp_mapping isaac_gmapping_test.launch

13. Source workspace. Run roslaunch fydp_mapping isaac_merge_multiple_map_test.launch

14. Source workspace. Run roslaunch explore_lite explore_costmap_multi_robot_test.launch

1. To control the robots via keyboard tele-operation run rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=carter1/cmd_vel. Replace the robot number with the specific one.

2. Alternatively, to control robots via joystick run rosrun joy joy_node followed by rosrun fydp_mapping turtlebot4_joystick.py.