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#+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
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