ut_smads_simulation

A simulation meta repository for running the SMADS system using the UT_multirobot_sim from UT_AMRL.

This is a one-stop repository to simulate a robot. Once this simulation is running, the SMADS system can be deployed just as it would on a real robot.

Quick Start

Installation

1. Clone locally in the directory of your choice:

$ git clone https://github.com/UTSMADS/ut_smads_simulation.git --recursive

2. Add these packages to your ROS_PACKAGE_PATH. You should only need to do this once

   $ ./SetupPath

3. Install dependent packages

   $ ./InstallPackages

4. Manually install ceres according to its install guide

Compiling

In the root of the ut_smads_simulation repo folder, simply run

$ make

Running

In the root of the ut_smads_simulation repo folrder, simply run

$ ./run_smads_sim.bash

this will spawn a number of terminal windows, a roscore and an RViz visualization. If you don't want to, or can't, visualize locally, you can edit the above script and turn off the visualization flag. Similarly, if a roscore is already running, that flag can also be adjusted in the script.

Configuration Overview

The relevant files to change maps, navigation or localization parameters live in the config directory. These files can be modified or cloned for other robot configurations.

Changing maps

To change the map, you will need to modify the following files:

• config/enml/ut_jackal.lua under the field map_name
• config/sim/default_init_config.lua under the field map_name

Note that the starting_loc_* listed under config/enml/ut_jackal.lua should match that of the start_poses under config/sim/default_init_config.lua for the simulation to work 'out of the box'. Otherwise, you will need to give ENML a new pose estimate to match the robot's actual position in the simulator.