ROS2 Formation

This repository contains simulation for swarm formation in ROS2

How to build and RUN

Please follow the steps:

git clone https://github.com/GaoLon/ros2_formation.git
cd ros2_formation
colcon build --symlink-install 
ros2 launch ego_planner run_all.py

Then you can use 2DGoalPose plugin test the planner

TODO List

Add it into MBZIRC simulator

NOTE

If when you build and get linker error as LZ4....:

You need add "/usr/lib/x86_64-linux-gnu/liblz4.so" to: ros2_formation/build/map_generator/CMakeFiles/random_forest.dir/link.txt end but before -ldl and ros2_formation/build/local_sensing/CMakeFiles/pcl_render_node.dir/link.txt end but before -ldl