<<StackHeader(tuw_multi_robot_ctrl)>>

== Documentation ==

This package provides a simple multi robot controller to follow a route. It contains a node which controls all robots at once for performance reasons with a high number of robots (> 100).

== Multi Segment Controller Node ==

This node receives route messages from the `tuw_multi_robot_router`. It provides control input for all robots to move on their routes in a synchronized fashion.

=== Subscribed Topics ===
`[robot_name]/path`  (`tuw_multi_robot_msgs/Route`)

    A synchronized route for every robot containing Segment Preconditions.

`robot_info` (`tuw_multi_robot_msgs/RobotInfo`)

    Contains the current pose of every robot used to determine the start and goal points.

`[robot_name]/ctrl` (`std_msgs/string`)

    Topic to send debug msgs  
     *run: run the whole routing table
     *step: every robot performs one step
     *stop: every robot stops at the next step

=== Published Topics ===

`[robot_name]/cmdVel`  (`geometry_msgs/Twist`)

    The cmd vel to the robot

`robot_info`  (`tuw_multi_robot_msgs/RobotInfo`)

     RobotInfo containing radius, robotName, sync

=== Parameters ===

`~robot_names` (`string[]` default: "[robot_0]")

     Sets the prefixes for all topics (e.g.: /robot_0/odom)

`~robot_names_str` (`string` default: "")

     A string which overrides the robot_names array to prevent a method of giving the param over console. All robot names have to be seperated by ",".

`~robot_radius` (`float[]` default: "[]")

     Sets the radius of every robot

`~robot_default_radius` (`float` default: "0.3")
     Sets the default radius for robots. Every robot radius which is not defined by robot_radius is set to the default one.

`~cmd_vel_topic` (`string` default: "cmd_vel")

     The topic for publishing the commands to the robot.

`~route_topic` (`string` default: "route")

     The route from the multi robot router for each robot.

`~topic_ctrl` (`string` default: "ctrl")

     The topic where debug msgs can be sent (see subscribed topics)

`~max_v` (`float` default: "0.8")

     The maximum linear speed of every robot.

`~max_w` (`float` default: "1.0")

     The maximum angular velocity of every robot.

`~goal_radius` (`float` default: "0.2")

     The goal radius where the robot is allowed to switch to the next path segment.

`~Kp` (`float` default: "5.0")

     Kp val of the controller.

`~Kd` (`float` default: "1.0")

     Kd val of the controller.

`~Ki` (`float` default: "0.0")

     Ki val of the controller.




== Report a Bug ==

<<GitHubIssues(org_unit_slash_repo_name)>> 
##i.e.<<GitHubIssues(ros/rosdistro)>>

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