Boid-simulation

Boid flocking simulation using gazebo simulator and ros

Installation Instructions

1. Install ROS and gazebo
2. Setup ROS workspace

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace  # initialize your catkin workspace

3. Compile the workspace of boid package

$ cd ~/catkin_ws/src
$ git clone https://gitlab.com/Sreevis/boid-simulation.git
$ catkin_make

4. Source for setup.bash file for every new terminal

$ source devel/setup.bash

To run the simulation

Launch the gazebo simulator with boid models.

$ roslaunch boid_gazebo swarm_in_gazebo.launch

Launch boid controller node

$ roslaunch boid_gazebo flocking.launch

To set another goal

rostopic pub /boid/set_goal geometry_msgs/Point "x: 3.0
y: 6.0
z: 9.0" 

References

[1] http://www.cs.toronto.edu/~dt/siggraph97-course/cwr87/