MSR-gazebo-code

Code repository for Gazebo simulation of W-MSR code.

This repository holds all code for the MSR simulations on the Gazebo platform.

Contact info: James Usevitch - usevitch@umich.edu Ruilin Zhou - ruilinzh@umich.edu

Please contact them with more questions.

Description

1. Siciliano Method_Matlab Simulation: Some MATLAB tests on Trajectory Tracking based methods from Siciliano's book.

2. heightmap1: The heightmap model used in Gazebo simulation.

3. msr_ws: The ROS workspace

   3.1. src/RCOMV/rcomv_uav: TheROS package of WMSR simulation for UAVs.

   3.2. src/RCOMV/rcomv_r1: The ROS package of WMSR simulation for R1 rovers.

Basic Usage

Three examples of WMSR simulation for UAVs and R1:

1. Launch 15 UAVs to form a static formation in a world with buildings, with the presence of physical misbehaving agents:

$ roslaunch rcomv_uav StaticFormation_15agents_BuildingWorld.launch

2. Launch 15 R1s to form a static formation in a basic world, with the presence of physical misbehaving agents:

$ roslaunch  rcomv_r1 StaticFormation_15agents.launch

3. Launch 8 R1s to track a circular trajectory as a formation, with the presence of cyber misbehaving agents:

$ roslaunch rcomv_r1 circleTraj_circleFormation_8agents_smallWorld.launch

More ros launch files are available under the launch folders of each package.