ROS simulations for EchoSLAM

What is EchoSLAM?

The goal of EchoSLAM is to use time-of-arrival measurements of acoustic pulses to aid in the relative localisation of a team of robots, while using the same acoustic transmitters to detect obstacles by analysing reflected echoes. Thus we plan to implement Simultaneous Localisation and Mapping (SLAM) solely using acoustic transceivers.

Running the Code

We'll be testing our localisation algorithms in a ROS environment.

To launch a sample simulation of n bots

• Clone this package into your workspace

• Build this package

• Source you current workspace in your working terminals

• Launch the team.launch with n bots using (assume n = 4)

  roslaunch echoslam_ROS team.launch teamsize:=4