Simulation environment

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SYNOPSIS

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rosrun mrm_sim simulation_launcher.sh [-r=NUMBER_OF_ROBOTS] 
                                      [-s=SCENARIO_NAME] 
                                      [-rp=x1,y1;x2,y2;x3,y3;...]

DESCRIPTION

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Loads the simulation environment. *Note: To close the simulation, type Q and hit enter.

OPTIONS

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-r=NUMBER_OF_ROBOTS

Number of robots to load, the value must be between 1 and 10 inclusive.

-s=SCENARIO_NAME

Scenario name to load. A scenario consists of two things: blobs count and positions and the malfunctions lists. To create a scenario, create malfunctions-SCENARIO_NAME.yaml and blobs-SCENARIO_NAME.yaml files in mrm_sim/config directory.

-rp=ROBOT_POSITIONS

The initial positions of the robots

EXAMPLES

Load scenario named test with 3 robots, at positions (0,0), (1,0) and (2,0)

rosrun mrm_sim simulation_launcher.sh -r=3 -s=test -rp=0,0;1,0;2,0