swarm_control_stack_1

A selection of ros packages required to run boids swarming algorithms on Tito Neri vessels.

Requirements:

• Benchmark Tito Neri vessel with ros2 on the main computer (tested on ROS Iron)
• Environment variable VESSEL_ID set appropiately (e.g. RAS_TN_DB, RAS_TN_GR ...)

Setup

Pull the content of this metapackage the ros workspace

cd ~/ros2_ws/src/; git clone https://github.com/RAS-Delft/swarm_control_stack_1

Pull/initiate all the submodules in this metapackage

cd ~/ros2_ws/src/swarm_control_stack_1/; git submodule update --init --recursive

Build ros workspace

cd ~/ros2_ws; colcon build; source install/setup.bash

Option 1: Run with simulator in the loop

ros2 launch boat_controller single_boid_withSim.launch.py

Option 2: Run with ships in the loop

ros2 launch boat_controller single_boid.launch.py

Dependencies

• xacro: sudo apt install ros-${ROS_DISTRO}-xacro
• pyproj: sudo apt install python3-pyproj
• scipy: sudo apt install python3-scipy