pheromone_map

How to Run

rosrun pheromone_controller wrapper_pheromone_controller.py

Parameters Essential (also what they are currently set to)

• how often we want to update robot's local stigmergy (integer in Hz)

publisher_rate = 2

• resolution of the cells in the stigmergy map and (in meters)

map_resolution = 0.25

• the radius of the trail of a single robot leaves on the pheromone map (in meters)

trail_radius = 0.8

• the value of the robot's trail in the matrix (integer)

robot_trail_value = 75

• the value of the obstacles trail in the matrix (integer)

wall_trail_value = 255

• These are diffusion parameters (Sigma is for gaussian blurr)

diffusion_sigma = 0.75
diffusion_rate = 10

TESTING DATA

This node needs to run on each robot, including UAVs, ground and pioneers.

Data Coming In

• Should read it's own namespace

• Should listen to the following topics

'/ground/localPheromone/<robotNameSpace>'

Internal Behaviour

• It takes in a local pheromone map, calculates the robot's new heading
• It is just a data translation package and as long as it's spitting our floats which are not 0.0 then it's working

Data Going Out

• Should Publish to the following topics <robot_name>/pheromoneHeading