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diff --git a/README.org b/README.org new file mode 100644 index 0000000..eed8229 --- /dev/null +++ b/README.org @@ -0,0 +1,26 @@ +#+TITLE: Multi-Robot Localisation + +* Simulation + +Decide which particle cloud to use: +- ~murl.particles.baseline~: a simple particle filter +- ~murl.particles.centralised~: an attempt at including inter-robot ranging + data. + +Next, begin gazebo with the desired number of robots: + +#+begin_src shell +roslaunch murl gazebo.launch robots:=3 +#+end_src + +Optionally start rviz for robots 0 or 1. + +#+begin_src shell +roslaunch murl rviz0.launch +#+end_src + +Finally, begin the localisation controller: + +#+begin_src shell +roslaunch murl localisation.launch robots:=3 cloud:=murl.particles.baseline +#+end_src |