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How to put the pieces together?

asked 2014-05-13 14:37:20 -0500

z.xing gravatar image

updated 2014-05-13 14:38:29 -0500

My goal is to use simple DIY robots, which only have wheels and IR receiver and emitters, to do distributed control algorithms for flocking and foraging. I went through tutorials for ROS, RViz, TF and URDF, yet I fail to understand how to put all the pieces together for a simulation.

Specifically, I know how to specify the robots in URDF, and after the Gazebo tutorial I'll know how to put a robot in a simulated physical world, but I'm not sure if I can put tens of robots in the same world. And more importantly, I don't know where does my algorithm for a single robot go, i.e. how do I code the behavior of a robot?

Thank you for your help in advance!

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your question is so comprehensive that I cant answer . you should make your problem focusing on one point .

zsbhaha gravatar image zsbhaha  ( 2014-05-13 15:08:15 -0500 )edit

If I hava a robot in a Gazebo world, what's the most common way to make the robot move autonomously, say running in a circle? Do I just simply publish robot states?

z.xing gravatar image z.xing  ( 2014-05-13 15:36:38 -0500 )edit

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answered 2014-05-13 18:49:41 -0500

Mehdi. gravatar image

I suggest you look for some tutorials in Gazebo about how to control a a robot with examples to fully understand how it works, then modify the tutorial codes to adapt them to your model. That would be the way I would do it.

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Asked: 2014-05-13 14:37:20 -0500

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Last updated: May 13 '14