Graph based routing engine with switch map engine which build with ROS ecosystem. Can coupled with Nav2 later on.

Setup and Execution Instructions

1. Build the Workspace

Navigate to your ROS workspace and build the packages:

colcon build --packages-select routing_agent routing_agent_interfaces

2. Run the Server

Start the routing agent server:

ros2 run routing_agent server

2-1. Execute the Routing Agent with simple 'ros2 launch'

b. Launch

ros2 launch routing_agent runServer.launch.py

4-2. Execute the Routing Agent with old fashion 'ros2 run'

a. Open a New Terminal Window and Navigate to the ROS Workspace

You should choose either b or c to execute.

b. Load the Waypoint Graph

Load the global waypoint graph by specifying the path to your graph file:

ros2 run routing_agent loadGraph <path_to_your_global_graph_file.json>

c. Merge the Waypoint Graph

Merge additional graph files by specifying the path to the configuration file:

ros2 run routing_agent mergeGraph <path_to_your_graph_files_config.config.json>

d. Load Tasks and Vehicles

Load task data and vehicle data by specifying the paths to the respective JSON files:

ros2 run routing_agent routingClient <path_to_your_task_data.json> <path_to_your_vehicle_data.json>

e. Communicate with Navigation

To communicate with the navigation system, use the following commands. Replace <T or F> with T (true) or F (false), and <global_location> with the specific location (e.g., 000_000).

• Navigate to the location with T:

  ros2 run routing_agent nav T 000_000

• Navigate to the location with F:

  ros2 run routing_agent nav F 000_000

Features

1.Routing Engine (Server)

1. Single Agent Task Assign (TSP)

2. Pathfinding (Dijkstra)

3. WaypointGraph Data format

4. Switch Map Server

Code Format Guidelines

1. FileName: template_data_format
2. functionName
3. SelfDefinedData
4. parameterisparameter
5. localVariableName
6. globalVariableName