MuSHR Coordination

Install

Clone repo:

cd ~/catkin_ws/src/ && git clone https://github.com/prl-mushr/mushr_coordination.git
cd mushr_coordination && git clone https://github.com/whoenig/libMultiRobotPlanning.git

API

For adjusting params see launch/mushr_coordination.launch it has the environment params for the planner. Change number of Mushr Car in environment by setting parameter num_agent and change number of waypoints for each goal by setting parameter num_waypoint.

Publishers

Topic	Type	Description
/{car_1's name}/waypoints	geometry_msgs/PoseArray	Pathway assigned to car_1
...
/{car_n's name}/waypoints	geometry_msgs/PoseArray	Pathway assigned to car_n
/{car_1's name}/marker	visualization_msgs/Marker	Intermediate points of task(s) assigned to car_1
...
/{car_n's name}/marker	visualization_msgs/Marker	Intermediate points of task(s) assigned to car_n
/mushr_coodination/border	visualization_msgs/Marker	Borderline of the current setup environment for the planner

Subscribers

Topic	Type	Description
/{car_1's name}/init_pose	geometry_msgs/PoseStamp	Initial position of car_1
...
/{car_n's name}/init_pose	geometry_msgs/PoseStamp	Initial position of car_n
/mushr_coordination/obstacles	geometry_msgs/PoseArray	List of obstacles in the map
/mushr_coordination/goals	/mushr_coordination/GoalPoseArray	List of goals for {n} cars to complete

Message Definition

mushr_coordination/GoalPoseArray

std_msgs/Header Header
float64 scale #scala for converting continous space to grid space
float64 minx
float64 miny
float64 maxx
float64 maxy
geometry_msgs/PoseArray[] goals