catkin_make
roscore
rosrun acolanner aco_planner_talker
rosrun acolanner aco_planner_listener
rosrun aco_planner aco_planner_node
(1) aco_planner_talker
publish all the task points that multiple agents need to arrive.
(2) aco_planner_listener
subscribe the result that ant colony algorithms compute.
(3) aco_planner_node
core code to compute the result based on ant colony algorithms.
the map:
(now is a blank map)
m_srcImg = cvLoadImage("src/aco_planner/src/m_planImg.jpg",-1); //把原始图形读进m_srcImg
the task nodes:
std::string full_path = ros::package::getPath("aco_planner") + "/src/Nodes.txt";
the task points that each agent need to go:
the planning path for each agent need to go, and different color indicates different agent:
while other process files can be found in src/aco_planner/Debug
folder.
Friend fshi2006.