<> == Preview == == Overview == 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 generates a custom defined search Graph. === Robot Control === To control the robots one can use a custom controller (e.g. the DWA from move_base) in combination with the local behavior controller which takes care of synchronization with other robots and provides an ordinary nav_msgs/Path message. For tests with a large number of robots the `multi_segment_controller_node` is provided which directly uses synchronous tuw_multi_robot_msgs/Route messages and controls all robots simultaneously. This is advantageous for performance reasons. === Quick Start === roslaunch tuw_multi_robot_demo demo.launch cfg:=robot_2 room:=cave ==== Parameters ==== `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 == <> ##i.e.<> ## AUTOGENERATED DON'T DELETE ## CategoryStack