Swarm Central

Repository to clone and run entire swarm IIT-Kgp architecture.

Dependencies: ROS, Gazebo

1. Clone the repository using: git clone --recursive https://github.com/Swarm-IITKgp/swarm_central.git

2. Before running the following commands, check if you have Gazebo Models already (present at $HOME/.gazebo/models or any other defined directory). If not, then run the script:
   $ bash downloadGazeboModels.sh
   and wait for it to complete.

3. Run (while in swarm_central directory): [T is number of agents]

	cd swarm_simulator
	sh scripts/generator.sh T
	roslaunch swarm_simulator swarm.launch
	rosrun swarm_coverage voronoi_main T
	cd ../singleRobot/
	sh scripts/generator.sh T
	roslaunch singlerobot singlerobot.launch