catkin_ws_src_path_planning

navigation 1 robot

1. run stage simulator with 4 robots, control robot_1

roslaunch my_patrol_sim stage_multi_robot.launch

2. run python script, Astar + DWA navigation for robot_1

/bin/python3 /home/ychb/catkin_ws/src/my_patrol_sim/scripts/robot_1_Astar_DWA.py

/my_patrol_sim/scripts/ A_star_path_finding_improved.py Dynamic_Window_Approaches.py robot_1_Astar_DWA.py

3. run rviz with robot_1.rviz and send simple goal

rosrun rviz rviz

navigation 4 robots patrol cumberland

1. run stage simulator with 4 robots

roslaunch my_patrol_sim stage_multi_robot.launch

2. run python script, Astar + DWA navigation for 4 robots, publish goals for patrol

roslaunch my_patrol_sim mynav_multi_robot.launch

/my_patrol_sim/scripts/ A_star_path_finding_improved.py Dynamic_Window_Approaches.py robot_Astar_DWA.py transfer_goal.py