apf_ros

This is the ROS Package for Path Planning of Swarm Robots using Artificial Potential Field. The node motion_planner publishes waypoints from the initial point to the destination.

Prerequisites:

• Install ROS from here.

To get started:

• Change to source space directory of your catkin workspace and clone the repo as:

$ git clone https://github.com/Swarm-IITKgp/apf_ros.git  apf

• To build the package:

$ cd ~/catkin_ws
$ catkin_make

• To run the publisher motion_planner:

$ rosrun apf motion_planner