From b0d88412a8e5cb84a44ae7333fa37599fadd8ed5 Mon Sep 17 00:00:00 2001 From: Greg Brown Date: Mon, 31 Jan 2022 00:21:18 +0000 Subject: Add a README --- README.org | 26 ++++++++++++++++++++++++++ 1 file changed, 26 insertions(+) create mode 100644 README.org (limited to 'README.org') 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 -- cgit v1.2.3