Re-added repeater mode. Added beacon agent logic.

CMakeLists.txt

@@ -5,7 +5,10 @@ find_package(catkin REQUIRED COMPONENTS
   rospy
   std_msgs
   geometry_msgs
+  nav_msgs
+  octomap_msgs
   message_generation
+  marble_artifact_detection_msgs
 )
 
 add_message_files(
@@ -16,12 +19,17 @@ add_message_files(
   BeaconArray.msg
   AgentArtifact.msg
   BaseMonitor.msg
+  AgentMsg.msg
+  NeighborMsg.msg
 )
 
 generate_messages(
   DEPENDENCIES
   std_msgs
   geometry_msgs
+  nav_msgs
+  octomap_msgs
+  marble_artifact_detection_msgs
 )
 
 catkin_package(

launch/multi_agent_sim.launch

@@ -14,7 +14,7 @@
   <!-- How long without a message to consider 'lost comms' -->
   <arg name="commThreshold" default="2" />
   <!-- How far to drive from the anchor before automatically dropping a beacon -->
-  <arg name="anchorDropDist" default="50" />
+  <arg name="anchorDropDist" default="30" />
   <!-- How far to drive before automatically dropping a beacon -->
   <arg name="dropDist" default="25" />
   <!-- Minimum distance between nodes before dropping another beacon -->
@@ -64,7 +64,6 @@
     <param name="potentialNeighbors" value="$(arg potentialNeighbors)" />
     <param name="baseTopic" value="$(arg baseTopic)" />
     <param name="stopTopic" value="$(arg stopTopic)" />
-    <param name="stopTopic" value="$(arg stopTopic)" />
     <param name="waitTopic" value="$(arg waitTopic)" />
     <param name="commTopic" value="$(arg commTopic)" />
     <param name="odomTopic" value="$(arg odomTopic)" />

msg/AgentMsg.msg

@@ -0,0 +1,10 @@
+Header header
+string id
+string cid
+nav_msgs/Odometry odometry
+geometry_msgs/PoseStamped goal
+octomap_msgs/Octomap map
+BeaconArray commBeacons
+marble_artifact_detection_msgs/ArtifactArray newArtifacts
+std_msgs/Time lastMessage
+NeighborMsg[] neighbors

msg/NeighborMsg.msg

@@ -0,0 +1,6 @@
+string id
+string cid
+nav_msgs/Odometry odometry
+geometry_msgs/PoseStamped goal
+octomap_msgs/Octomap map
+std_msgs/Time lastMessage