-
Notifications
You must be signed in to change notification settings - Fork 0
/
dislab.txt
37 lines (25 loc) · 1.82 KB
/
dislab.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
####################### SIMULATION
# single robot
roslaunch way_point_navigation way_point_navigation_stage.launch map_name:=DISlabs init_x:=10.0 init_y:=20.0 init_a:=1.57
# two robots
roslaunch way_point_navigation way_point_2_robots_navigation_stage.launch map_name:=DISlabs init_x0:=10.0 init_y0:=20.0 init_a0:=1.57 init_x1:=9.0 init_y1:=34.0 init_a1:=0.0
# three robots
roslaunch way_point_navigation way_point_3_robots_navigation_stage.launch map_name:=DISlabs init_x0:=10.0 init_y0:=20.0 init_a0:=1.57 init_x1:=9.0 init_y1:=34.0 init_a1:=0.0 init_x2:=9.0 init_y2:=8.0 init_a2:=3.14
roslaunch way_point_navigation way_point_4_robots_navigation_stage.launch map_name:=DIS_first_floor init_x1:=1.5 init_y1:=38.0 init_a1:=0.0
######################## REAL
###### WAYPOINT_NAV
# robot 0
roslaunch way_point_navigation way_point_navigation_turtlebot.launch robot_name:=turtlebot0 agentId:=0 map_name:=DISlabs init_x:=10.0 init_y:=20.0 init_a:=1.57
# robot 0
roslaunch way_point_navigation way_point_navigation_sapienzbot.launch robot_name:=sapienzbot0 agentId:=0 map_name:=DISlabs init_x:=10.0 init_y:=20.0 init_a:=1.57 home_x:=10.0 home_y:=20.0 home_th:=1.57
# robot 1
roslaunch way_point_navigation way_point_navigation_turtlebot.launch robot_name:=turtlebot1 agentId:=1 map_name:=DISlabs init_x:=9.0 init_y:=34.0 init_a:=0.0
# robot 2
roslaunch way_point_navigation way_point_navigation_turtlebot.launch robot_name:=turtlebot2 agentId:=2 map_name:=DISlabs init_x:=9.0 init_y:=8.0 init_a:=1.57
#RCOORD
# robot 0 (robots_num depends on the number of robot within the network)
roslaunch r_coordination r_coordination.launch robot_name:=turtlebot0 robots_num:=3
# robot 1
roslaunch r_coordination r_coordination.launch robot_name:=turtlebot1 robots_num:=3
#robot 2
roslaunch r_coordination r_coordination.launch robot_name:=turtlebot2 robots_num:=3