Birds (boid) simulation

Boid flocking simulation using Gazebo simulator and ROS.

Installation Instructions

1. Install Ubuntu 16.04, ROS Kinetic 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

Extract the file here

$ cd ~/catkin_ws/ $ catkin_make

4. Source `setup.bash` file

$ 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 (open new terminal)

$ roslaunch boid_gazebo flocking.launch

To set another goal
-----------

Goal 1
(open new terminal)

rostopic pub /boid/set_goal geometry_msgs/Point “x: 12.0 y: 8.0 z: 9.0”

Goal 2
(open new terminal)

rostopic pub /boid/set_goal geometry_msgs/Point “x: 5.0 y: -5.0 z: 10.0” ```

References

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