Collaborative Object Transport

1. Repository overview

• multi_robot_controller: Controller and mathematics for formation control
• multi_robot_msgs: Message definitions for formation control
• transport_controller: Implementation of top level system control of a collaborative object transport
• transport_launcher: Launchfiles for launching the different elements within a collaborative object transport

2. Installation

Start by changeing directory to your catkin workspace!

Clone package

git clone https://github.com/matchRos/Collaborative_Transport.git src

Install dependencies

Download and install the Match_Mobile_Robotics package from https://github.com/matchRos/Match_Mobile_Robotics manually. Afterwards install missing dependencies by using rosdep (ROS_DISTRO has to be defined or substituted by your ROS destribution)

rosdep update
rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y

Build packages

Use your standard build tools to build the downloaded packages e.g. :

catkin_make

or

catkin build