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:

• Launch file Added empty demo.launch #33
• 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 Frontier search for testing master merge v2 #30
• State machine subscribes to topic: \robot_X\frontier_list

Integrating merged map into navigation system

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

Coms Line-of-site in Gazebo

• Read line of site data from existing argos-net-sim physics coordinator Working line of site in coms #34
• Coms publishes nearby robots to topic: /nearby_robots Listen to nearby robots in State-Machine #15
• State machine subscribes to topic: /nearby_robots Listen to nearby robots in State-Machine #15