tuw_multi_robot: tuw_multi_robot_ctrl | tuw_multi_robot_demo | tuw_multi_robot_msgs | tuw_multi_robot_route_to_path | tuw_multi_robot_router | tuw_multi_robot_rviz | tuw_voronoi_graph

Package Summary

Contains launch and config files to run a sample demo.

  • Maintainer status: maintained
  • Maintainer: Benjamin Binder <benjamin.binder AT tuwien.ac DOT at>, Markus Bader <markus.bader AT tuwien.ac DOT at>
  • Author: Benjamin Binder <benjamin.binder AT tuwien.ac DOT at>
  • License: BSD
  • Source: git https://github.com/tuw-robotics/tuw_multi_robot.git (branch: master)



The multi robot framework can be used in several different configurations.

Path Generation

One can either use the Voronoi Graph Node or the Segment to Graph Node to generate the search graph, where the Voronoi Graph Node generates a Graph, which covers the whole map and the Segment to Graph Node genearates a custom defined search Graph.

Robot Controll

To control the robots one can use a custom controller in combination with the waypoints to spline node, which publishes valid path segments for each robot generated out of the routing table. Additionally there is another controller in the package, which automatically synchronizes and controlls all robots simultaneously.

MRControl.png Shown the framework using the multi robot controller, which is used for tests with stage.

Segments2Waypoints.png Shown the framework using a custom defined controller, to maintain kompatibility to existing robot frameworks.

Quick Start

roslaunch tuw_multi_robot_demo demo.launch


room default: "cave"

  • sets the map used

use_rviz default: "true"

  • starts rviz with the given cfg

use_stage default: "true"

  • starts stage with the given room (and defined robots in it)

use_map_server default: "true"

  • starts the map server with the given room

use_planner default: "true"

  • runs the multi robot router

use_controller default: "true"

  • starts the robot controller

use_graph_generator default: "true"

  • starts the graph generator which converts maps into the used search graphs

cfg default: "default" (2 robots)

  • loads the config for the scenario

use_path_synchronizer default: "false"

  • used to convert segment paths to synchronized paths

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]

Wiki: tuw_multi_robot_demo (last edited 2018-06-22 07:57:44 by Markus Bader)