Setup for ten followers

BlueAndi · Aug 1, 2024 · d23d556 · d23d556
1 parent 3fc706f
commit d23d556
Show file tree

Hide file tree

Showing 2 changed files with 162 additions and 2 deletions.
diff --git a/start_platoon.bat b/start_platoon.bat
@@ -54,7 +54,7 @@ xcopy /s /y %TEMP_PLATOON_LEADER_PATH%\ %TEMP_PLATOON_LEADER_NEW_PATH%\
 
 rem Copy follower folder according to a new folder with the robot's name.
 rem The copy ensures that a existing settings.json will be kept.
-for /L %%i in (1, 1, 2) do (
+for /L %%i in (1, 1, 10) do (
     xcopy /s /y %TEMP_PLATOON_FOLLOWER_PATH%\ %TEMP_PLATOON_FOLLOWER_NEW_PATH%%%i\
 )
 
@@ -67,7 +67,7 @@ echo Start convoy leader.
 start "Convoy Leader" ""%WEBOTS_CONTROLLER%"" --robot-name=%CONVOY_LEADER_ROBOT_NAME% --stdout-redirect %TEMP_PLATOON_LEADER_NEW_PATH%\%PROGRAM_NAME% -n %CONVOY_LEADER_ROBOT_NAME% -c --serialRxCh=%CONVOY_LEADER_RX_CHANNEL% --serialTxCh=%CONVOY_LEADER_TX_CHANNEL% -v"
 
 rem Start the followers
-for /L %%i in (1, 1, 2) do (
+for /L %%i in (1, 1, 10) do (
     echo Start convoy follower %%i.
     call :StartFollower %%i
 )

diff --git a/webots/worlds/zumo_with_com_system/BigPlatoonTrack.wbt b/webots/worlds/zumo_with_com_system/BigPlatoonTrack.wbt
@@ -0,0 +1,160 @@
+#VRML_SIM R2023b utf8
+
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
+EXTERNPROTO "../../protos/Zumo32U4.proto"
+EXTERNPROTO "../../protos/ZumoComSystem.proto"
+EXTERNPROTO "../../protos/PlatoonTrack.proto"
+EXTERNPROTO "../../protos/Supervisor.proto"
+EXTERNPROTO "../../protos/Obstacle.proto"
+
+WorldInfo {
+  info [
+    "Platoon Track for platooning using ConvoyLeader and RemoteControl applications."
+  ]
+  title "Platoon Track"
+  basicTimeStep 8
+  contactProperties [
+    ContactProperties {
+      material1 "rubber"
+      material2 "cardboard"
+      coulombFriction [
+        0.65
+      ]
+    }
+  ]
+}
+Viewpoint {
+  orientation -0.7176343920698073 0.00028570577229950487 0.6964199865675955 3.1410420741084026
+  position -3.3187472129446247 -0.8391292754142821 2.997080235514728
+}
+TexturedBackground {
+}
+TexturedBackgroundLight {
+}
+PlatoonTrack {
+  contactMaterial "cardboard"
+}
+Zumo32U4 {
+  translation -3.15 -1.05 0.013994298332013683
+  rotation -1.0564747468923541e-06 8.746699709178704e-07 0.9999999999990595 1.5880805820884731
+  name "leader"
+  contactMaterial "rubber"
+  zumoComSystemSlot ZumoComSystem {
+    name "ZumoComSystemLeader"
+    performanceMode TRUE
+  }
+  performanceMode TRUE
+}
+Zumo32U4 {
+  translation -3.15 -1.2 0.013994298332013683
+  rotation -1.0564747468923541e-06 8.746699709178704e-07 0.9999999999990595 1.5880805820884731
+  name "follower_1"
+  contactMaterial "rubber"
+  zumoComSystemSlot ZumoComSystem {
+    name "ZumoComSystemFollower1"
+    performanceMode TRUE
+  }
+  performanceMode TRUE
+}
+Zumo32U4 {
+  translation -3.15 -1.35 0.013994298332013683
+  rotation -1.0564747468923541e-06 8.746699709178704e-07 0.9999999999990595 1.5880805820884731
+  name "follower_2"
+  contactMaterial "rubber"
+  zumoComSystemSlot ZumoComSystem {
+    name "ZumoComSystemFollower2"
+    performanceMode TRUE
+  }
+  performanceMode TRUE
+}
+Zumo32U4 {
+  translation -3.15 -1.5 0.013994298332013683
+  rotation -1.0564747468923541e-06 8.746699709178704e-07 0.9999999999990595 1.5880805820884731
+  name "follower_3"
+  contactMaterial "rubber"
+  zumoComSystemSlot ZumoComSystem {
+    name "ZumoComSystemFollower3"
+    performanceMode TRUE
+  }
+  performanceMode TRUE
+}
+Zumo32U4 {
+  translation -3.15 -1.65 0.013994298332013683
+  rotation -1.0564747468923541e-06 8.746699709178704e-07 0.9999999999990595 1.5880805820884731
+  name "follower_4"
+  contactMaterial "rubber"
+  zumoComSystemSlot ZumoComSystem {
+    name "ZumoComSystemFollower4"
+    performanceMode TRUE
+  }
+  performanceMode TRUE
+}
+Zumo32U4 {
+  translation -3.15 -1.8 0.013994298332013683
+  rotation -1.0564747468923541e-06 8.746699709178704e-07 0.9999999999990595 1.5880805820884731
+  name "follower_5"
+  contactMaterial "rubber"
+  zumoComSystemSlot ZumoComSystem {
+    name "ZumoComSystemFollower5"
+    performanceMode TRUE
+  }
+  performanceMode TRUE
+}
+Zumo32U4 {
+  translation -3.15 -1.95 0.013994298332013683
+  rotation -1.0564747468923541e-06 8.746699709178704e-07 0.9999999999990595 1.5880805820884731
+  name "follower_6"
+  contactMaterial "rubber"
+  zumoComSystemSlot ZumoComSystem {
+    name "ZumoComSystemFollower6"
+    performanceMode TRUE
+  }
+  performanceMode TRUE
+}
+Zumo32U4 {
+  translation -3.15 -2.1 0.013994298332013683
+  rotation -1.0564747468923541e-06 8.746699709178704e-07 0.9999999999990595 1.5880805820884731
+  name "follower_7"
+  contactMaterial "rubber"
+  zumoComSystemSlot ZumoComSystem {
+    name "ZumoComSystemFollower7"
+    performanceMode TRUE
+  }
+  performanceMode TRUE
+}
+Zumo32U4 {
+  translation -3.15 -2.25 0.013994298332013683
+  rotation -1.0564747468923541e-06 8.746699709178704e-07 0.9999999999990595 1.5880805820884731
+  name "follower_8"
+  contactMaterial "rubber"
+  zumoComSystemSlot ZumoComSystem {
+    name "ZumoComSystemFollower8"
+    performanceMode TRUE
+  }
+  performanceMode TRUE
+}
+Zumo32U4 {
+  translation -3.15 -2.4 0.013994298332013683
+  rotation -1.0564747468923541e-06 8.746699709178704e-07 0.9999999999990595 1.5880805820884731
+  name "follower_9"
+  contactMaterial "rubber"
+  zumoComSystemSlot ZumoComSystem {
+    name "ZumoComSystemFollower9"
+    performanceMode TRUE
+  }
+  performanceMode TRUE
+}
+Zumo32U4 {
+  translation -3.15 -2.55 0.013994298332013683
+  rotation -1.0564747468923541e-06 8.746699709178704e-07 0.9999999999990595 1.5880805820884731
+  name "follower_10"
+  contactMaterial "rubber"
+  zumoComSystemSlot ZumoComSystem {
+    name "ZumoComSystemFollower10"
+    performanceMode TRUE
+  }
+  performanceMode TRUE
+}
+
+