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hetero-viz's Introduction

marmot

  • mkdir -p mapf_ws/src
  • cd mapf_ws/src
  • git clone [email protected]:ur10/hetero-viz.git
  • catkin_make
  • To visualize the markers in rviz pane, goto add button and select MarkerArray option

Panel 1 -

  • cd mapf_ws
  • source devel/setup.bash
  • export PYTHONPATH="${PYTHONPATH}:${HOME}/mapf_ws/src/hetero-viz"
  • roslaunch marmot demonstration_driver.launch

Panel 2 -

  • cd mapf_ws
  • source devel/setup.bash
  • export PYTHONPATH="${PYTHONPATH}:${HOME}/mapf_ws/src/hetero-viz"
  • python3 src/hetero-viz/scripts/run_robots.py

Setting up the configs -

  • In launch/demonstration.launch set the offset parameters for positioning the agents apart on task nodes.
  • The bias parameter for determinig how close the agent needs to be to the task to be considered as arrived.
  • The arena scale for task distance scaling.
  • image

hetero-viz's People

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