Centralised controller for rigid formations in AGV fleets This is the cordyceps controller that allows for controlling a virtual structure.
- ROS Humble
$ git clone https://github.com/TeamSolenopsis/Cordyceps.git
To use this with physical robots use the next commands to run the controller.
export ROS_DOMAIN_ID=0
$ cd <your-ros-workspace>
$ colcon build
$ . install/setup.bash
$ ros2 run cordyceps manager
...