turtlebot3_formation

Leader-follower formation control using ROS+Gazebo.

Introduction

This repository use 4 robots (turtlebot3) formation control. The main idea is: one turtlebot is leader, the remaining three turtlebots are follower. The followers use PID control algorithm to maintain the pose and distance with leader robot. More detail is on abc_swarm doc.

Getting Started

1. Create a ROS workspace

$ mkdir <workspace_name>/src
$ cd <workspace_name>/src

2. install dependencies and repository

$ git clone <dependency repository>.git
$ git clone [email protected]:khinggan/turtlebot3_formation.git

dependencies: turtlebot3_msg, turtlebot3, turtlebot3_simulation, dynamic_reconfigure.

3. build

$ cd ../
$ catkin_make
$ source devel/setup.bash

4. run

$ roslaunch turtlebot3_formation leader_follower.launch

5. test (another terminal)

$ rostopic pub -r 10 /tb3_1/cmd_vel geometry_msgs/Twist "{linear:  {x: 0.2, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0, z: 0.1}}"