UT Multi-Robot Simulator

Dependencies

1. glog
2. gflags
3. Lua5.1

You can install all the dependencies on *buntu using:

sudo apt install libgoogle-glog-dev libgflags-dev liblua5.1-0-dev

To set up the pre-commit and pre-push hooks that verify changes are able to build locally, run

scripts/setup_hooks.sh

from inside the root of the repo.

Build

1. Add the project directory to ROS_PACKAGE_PATH:

   export ROS_PACKAGE_PATH=MYDIRECTORY:$ROS_PACKAGE_PATH
   

   (Replace MYDIRECTORY with the actual directory) You can also add this to your ~/.bashrc file so that you don't have to do this every time you open a new terminal.
2. Run git submodule update --init --recursive to pull all the submodules.
3. Build the program (do not run cmake, catkin_make, rosbuild):

   make
   

   Optionally, to compile on all cores (make sure you have sufficient RAM!)

   make -j
   

Run

Run ./bin/simulator

The simulator laser scans to the /laser topic, odometry messages to /odom, and visualization messages to /simulator_visualization. It listens to motion commands on /ackermann_drive, and location initialization messages on /initialpose.

Visualize Simulation

Run rosrun rviz rviz -d visualization.rviz