Formations package to ROS, Stage and Turtlebot.
This package provides an implementation of potential fields to manage formations of robots using Stage and the turtlebot platform (see https://github.com/turtlebot). It provides a correct configuration of namespaces and frames that allows the robots to perform localization and navigation in real environments.
Multi-robot formations:
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Bring up simulated robots
$ roslaunch formations multi_robot.launch
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Run formations script
$ rosrun formations formation.py