Launch Simulation

Launch Scripts

start_simulation.sh

We provide Gazebo simulations for ROS2swarm. To facilitate starting the simulation and the desired swarm behavior, we provide the launch script start_simulation.sh. The launch script launches the simulation environment in Gazebo, the desired number of robots, as well as the selected swarm behavior. For this purpose, the launch script start_simulation.sh offers several parameterization options:

Parameter	Options	Description
gazebo_world	see Gazebo Worlds	simulation environment
pattern	see Swarm Behaviors	executed swarm behavior
number_robots	int	number of launched robots
log_level	debug, info	ROS log level for development
robot	see Supported Robot Platforms	launched robot type
sensor_type	see Sensor Layer	sensor type of robot
x_start	float	first position on x-axis
x_dist	float	increment along x-axis for robot position
y_start	float	first position on y-axis
y_dist	float	increment along y-axis for robot position

After setting the parameters, you can start your swarm simulation by executing

bash start_simulation.sh

in the terminal.

The swarm behavior will be executed by the robots after the start command is received.

ros2 topic pub --once /swarm_command communication_interfaces/msg/Int8Message "{data: 1}"

We provide launch script start_command.sh to facilitate the start of the robots.

bash start_command.sh

add_robots_to_simulation.sh

More robots of the same type or of a different type can be added to a running simulation using the add_robots_to_simulation.sh script. It offers several parameterization options:

Parameter	Options	Description
start_index	int	index for first newly added robot
version	1, 2	ROS version of robot model
others	see start_simulation

Gazebo worlds

• arena_large.world

• arena.world

• empty.world

• turtle.world

• 560x540m.world

• Ymaze.world

• Ymaze_camber.world

• Ymaze_camber_top.world