Decide which particle cloud to use:
murl.particles.baseline
: a simple particle filtermurl.particles.centralised
: an attempt at including inter-robot ranging data.
Next, begin gazebo with the desired number of robots:
roslaunch murl gazebo.launch robots:=3
Optionally start rviz for robots 0 or 1.
roslaunch murl rviz0.launch
Finally, begin the localisation controller:
roslaunch murl localisation.launch robots:=3 cloud:=murl.particles.baseline