Gazebo exploration

How to launch

./launch_as2.bash

By default launches one drone exploration in word instance 60 (60 obstacles in 20x20m). Check options to change launching.

$ ./launch_as2.bash -h
Usage: ./launch_as2.bash [-i <instance>] [-2] [-3] [-r] [-t]
  options:
      -i: choose world instance (default: '60')
      -2: launch two drones
      -3: launch three drones
      -r: record rosbag
      -t: launch keyboard teleoperation

How to start exploration

# Go to last tmux window (or open new terminal)
python explore.py

How to stop

# On one tmux window
./kill.bash

Known issues

• Sometimes Gazebo process is not killed properly. In that case, run killall gzserver and killall gzclient manually.