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jiangfan wu f9cd3a52fc add docker image and modefiy readme Signed-off-by: jiangfan wu <jiangfanwu@stu.xjtu.edu.cn>		2022-10-31 23:52:36 +08:00
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cloud	add docker image and modefiy readme	2022-10-31 23:52:36 +08:00
edge	add docker image and modefiy readme	2022-10-31 23:52:36 +08:00
images	add multi robot code	2022-10-31 14:22:27 +08:00
readme.md	add multi robot code	2022-10-31 14:22:27 +08:00

readme.md

README

Environment

Cloud:

ubuntu 20.04
ROS - neotic
OpencCV 4.5

Edge

ubuntu 20.04
ROS - neotic

Setup

Step 1: You should set the ROS host on the cloud and the edge, and install the relevant dependencies

Cloud

sudo apt install libdxflib-dev
sudo apt install ros-neotic-map-server

# ~/.bash add
export ROS_MASTER_URI=http://CLOUD_IP:11311
export ROS_HOSTNAME=CLOUD_HOSTNAME
export ROS_IP=CLOUD_IP
source ~/.bashrc

Edge

sudo apt install ros-neotic-stage-ros

# ~/.bash add
export ROS_MASTER_URI=http://EDGE_IP:11311
export ROS_HOSTNAME=EDGE_HOSTNAME
export ROS_IP=CLOUD_IPCD ..
source ~/.bashrc

Edge Install and Run

cd edge_ws/
git clone --branch $ROS_VERSION git@github.com:tuw-robotics/tuw_geometry.git 
git clone git@github.com:tuw-robotics/tuw_msgs.git 
catkin_make
source devel/setup.bash
roslaunch tuw_multi_robot_demo edge.launch

Step 2: First run the edge node, and you will see three robots in the environment in the window, and the terminal displays that three robots have been successfully online.

Edge_show

Edge ROS node

Cloud Install and Run

cd cloud_ws/
git clone --branch $ROS_VERSION git@github.com:tuw-robotics/tuw_geometry.git 
git clone git@github.com:tuw-robotics/tuw_msgs.git 
catkin_make
source devel/setup.bash
roslaunch tuw_multi_robot_demo Cloud.launch room:=cave nr_of_robots:=3

Step 3: Run the cloud node. At this time, you will see the rviz interface and generate the split path node. You can set the target point positions for the three robots in order.

Cloud show

Cloud ROS node