- mkdir -p mapf_ws/src
- cd mapf_ws/src
- git clone [email protected]:ur10/hetero-viz.git
- catkin_make
- To visualize the markers in rviz pane, goto add button and select MarkerArray option
- cd mapf_ws
- source devel/setup.bash
- export PYTHONPATH="${PYTHONPATH}:${HOME}/mapf_ws/src/hetero-viz"
- roslaunch marmot demonstration_driver.launch
- cd mapf_ws
- source devel/setup.bash
- export PYTHONPATH="${PYTHONPATH}:${HOME}/mapf_ws/src/hetero-viz"
- python3 src/hetero-viz/scripts/run_robots.py
- In launch/demonstration.launch set the offset parameters for positioning the agents apart on task nodes.
- The bias parameter for determinig how close the agent needs to be to the task to be considered as arrived.
- The arena scale for task distance scaling.
