Simulation Demo

[tylerferrara]

Target Date: Mar 4, 2022

Physics Simulator: Gazebo Launch File: turtlebot3_simulations/turtlebot3_gazebo/launch/sim-demo.launch World File: turtlebot3_simulations/turtlebot3_gazebo/worlds/dans_basic_maze.world Argos File: TODO

ROS Robot Name	IP Address	Network Device (NIC)
robot_0	192.168.0.1	tun0
robot_1	192.168.0.2	tun1
robot_2	192.168.0.3	tun2
robot_3	192.168.0.4	tun3

Metrics:

X% map is explored in 1 sim minutes X% map is explored in 10 sim minutes X% map is explored in 100 sim minutes

Compare to X% map coverage by random exploration with n robots

Anatomy of a Sim:

• [x] Launch file #33
• [X] World file dans_basic_maze.world
• [ ] Robot definition

A Robot includes the following ROS Nodes]

• [ ] Map Merge
• [ ] State Machine
• [ ] coms
• [ ] g_mapping
• [ ] AMCL pose
• [ ] move-base
• [ ] frontier searching
• [ ] explore
• [ ] Gazebo Line-of-site

Missing Parts:

Reinforcement Learning Based Frontier Selection

• [ ] Create custom agreed upon message type with necessary information
• [ ] Publish to topic: \robot_X\frontier_list #30
• [ ] State machine subscribes to topic: \robot_X\frontier_list

Integrating merged map into navigation system

• [X] Map Merge node publishing map to topic: \robot_X\merged_map #27
• [ ] Topic Subscribers: amcl and move-base
• [ ] Explore uses this map to calculate frontiers

Coms Line-of-site in Gazebo

• [x] Read line of site data from existing argos-net-sim physics coordinator #34
• [ ] Coms publishes nearby robots to topic: /nearby_robots #15
• [ ] State machine subscribes to topic: /nearby_robots #15