acs_route_planning

This package contains an implementation of Ant Colony System for Path Planning

Dependencies

• tuw_multi_robot
• map2gazebo

Load simulation in Gazebo

It is necessary to use the package map2gazebo to generate a world compatible with the gazebo, using a png of the map you want to simulate. The available maps are in tuw_multi_robot package. See both documentations.

roslaunch acs_route_planning  world.launch map:=map_name.world room:=room_name

Ex:

roslaunch acs_route_planning  world.launch room:=cave

After roslaunch ACS, the rviz and the gazebo simulation enviroment will be opened, use the Publish Point button to choose the robot’s target:

When ACS algorithm find the path, the robot starts the path execution.