####Project Properties:

Go to:

C/C++ General > Paths and Symbols > Include > GNU C++

Add:

/opt/ros/indigo/include

####Setup:

Change to catkin root directory then run:

$ rm -rf build/
$ catkin_make --force-cmake
$ . devel/setup.bash
$ . src/wandrian/setup.sh

####Build for testing:

$ cd src/wandrian/test/
$ ./test.sh 4 0.4 0.4 full_spiral_stc

####Run simulator:

$ roslaunch wandrian environment.launch world_file:=prefered_full_spiral_stc
$ roslaunch wandrian run_simulator.launch map_boundary_width:=4 map_boundary_height:=4 tool_size:=0.5 starting_point_x:=0.75 starting_point_y:=0.25 plan_name:=full_spiral_stc

####Run practically:

$ roslaunch kobuki_node minimal.launch --screen
$ sudo chmod a+rw /dev/ttyACM0
$ rosrun hokuyo_node hokuyo_node
$ roslaunch wandrian run_practically.launch mb_w:=4.8 mb_h:=3.2 ts:=0.4 sp_x:=0.6 sp_y:=-0.6 pn:=full_spiral_stc lv:=0.15 av:=0.75 pr_c:=0.5 pr_s:=0.2 af_r:=2.0 e_rd:=0.06 e_md:=0.24 e_p:=0.06

####Running mstc_online:

######2 robots (2 PCs): Run server in 1 PC $ roslaunch wandrian environment.launch world_file:=prefered_mstc_online_for_show $ roslaunch wandrian add_1_robot.launch starting_point_x_robot:=-1.25 starting_point_y_robot:=-1.75 robot_name:=robot1 $ roslaunch wandrian add_1_robot.launch starting_point_x_robot:=1.75 starting_point_y_robot:=0.25 robot_name:=robot2 $ roslaunch wandrian algorithm_simulator.launch plan_name:=mstc_online robot_name:=robot1 tool_size:=0.5 starting_point_x:=-1.25 starting_point_y:=-1.75 map_boundary_width:=4.0 map_boundary_height:=4.0 ip_server:=x.x.x.x $ roslaunch wandrian algorithm_simulator.launch plan_name:=mstc_online robot_name:=robot2 tool_size:=0.5 starting_point_x:=1.75 starting_point_y:=0.25 map_boundary_width:=4.0 map_boundary_height:=4.0 ip_server:=x.x.x.x

######2 robots: $ roslaunch wandrian environment.launch world_file:=prefered_mstc_online_for_show $ roslaunch wandrian add_2_robots.launch starting_point_x_robot1:=-1.25 starting_point_y_robot1:=-1.75 starting_point_x_robot2:=1.75 starting_point_y_robot2:=0.25 $ roslaunch wandrian algorithm_simulator.launch plan_name:=mstc_online robot_name:=robot1 tool_size:=0.5 starting_point_x:=-1.25 starting_point_y:=-1.75 map_boundary_width:=4.0 map_boundary_height:=4.0 ip_server:=no_need $ roslaunch wandrian algorithm_simulator.launch plan_name:=mstc_online robot_name:=robot2 tool_size:=0.5 starting_point_x:=1.75 starting_point_y:=0.25 map_boundary_width:=4.0 map_boundary_height:=4.0 ip_server:=no_need

######3 robots: $ roslaunch wandrian environment.launch world_file:=prefered_mstc_online_for_show $ roslaunch wandrian add_3_robots.launch starting_point_x_robot1:=-1.25 starting_point_y_robot1:=-1.75 starting_point_x_robot2:=1.75 starting_point_y_robot2:=0.25 starting_point_x_robot3:=-1.25 starting_point_y_robot3:=0.25 $ roslaunch wandrian algorithm_simulator.launch plan_name:=mstc_online robot_name:=robot1 tool_size:=0.5 starting_point_x:=-1.25 starting_point_y:=-1.75 map_boundary_width:=4.0 map_boundary_height:=4.0 ip_server:=no_need $ roslaunch wandrian algorithm_simulator.launch plan_name:=mstc_online robot_name:=robot2 tool_size:=0.5 starting_point_x:=1.75 starting_point_y:=0.25 map_boundary_width:=4.0 map_boundary_height:=4.0 ip_server:=no_need $ roslaunch wandrian algorithm_simulator.launch plan_name:=mstc_online robot_name:=robot3 tool_size:=0.5 starting_point_x:=-1.25 starting_point_y:=0.25 map_boundary_width:=4.0 map_boundary_height:=4.0 ip_server:=no_need

######4 robots: $ roslaunch wandrian environment.launch world_file:=prefered_mstc_online_for_show $ roslaunch wandrian add_4_robots.launch starting_point_x_robot1:=-1.25 starting_point_y_robot1:=-1.75 starting_point_x_robot2:=1.75 starting_point_y_robot2:=0.25 starting_point_x_robot3:=-1.25 starting_point_y_robot3:=0.25 starting_point_x_robot4:=-1.25 starting_point_y_robot4:=1.25 $ roslaunch wandrian algorithm_simulator.launch plan_name:=mstc_online robot_name:=robot1 tool_size:=0.5 starting_point_x:=-1.25 starting_point_y:=-1.75 map_boundary_width:=4.0 map_boundary_height:=4.0 ip_server:=no_need $ roslaunch wandrian algorithm_simulator.launch plan_name:=mstc_online robot_name:=robot2 tool_size:=0.5 starting_point_x:=1.75 starting_point_y:=0.25 map_boundary_width:=4.0 map_boundary_height:=4.0 ip_server:=no_need $ roslaunch wandrian algorithm_simulator.launch plan_name:=mstc_online robot_name:=robot3 tool_size:=0.5 starting_point_x:=-1.25 starting_point_y:=0.25 map_boundary_width:=4.0 map_boundary_height:=4.0 ip_server:=no_need $ roslaunch wandrian algorithm_simulator.launch plan_name:=mstc_online robot_name:=robot4 tool_size:=0.5 starting_point_x:=-1.25 starting_point_y:=1.25 map_boundary_width:=4.0 map_boundary_height:=4.0 ip_server:=no_need

####Prefered arguments:

lv:=0.18 av:=0.9 pr_c:=0.4 pr_s:=0.2 af_r:=3.0 e_rd:=0.2 e_md:=0.36 e_p:=0.04