rosrun pheromone_map pheromone_wrapper.py

• size of Gazebo environment

environment_width = 100
environment_height = 100

• how often we want to update robot's local stigmergy (integer in Hz)

publisher_rate = 2

• resolution of the cells in the stigmergy map and (in meters)

map_resolution = 0.25

• the radius of the trail of a single robot leaves on the pheromone map (in meters)

trail_radius = 0.8

• the value of the robot's trail in the matrix (integer)

robot_trail_value = 75

• the value of the obstacles trail in the matrix (integer)

wall_trail_value = 255

• These are diffusion parameters (Sigma is for gaussian blurr)

diffusion_sigma = 0.75
diffusion_rate = 10

• Should read all the name spaces of all robots in the environmentand print these to the screen as it's setting up.

• Should listen to the following topics

<robotNameSpace>/odom # this takes in the x,y positions of each robot
<robotNameSpace>/map # this takes the map in of each robot

• Pheromones left by robots should be much less than those left by the walls
• Pheromones left by robots should stack over time
• Pheromones left by robots should be in a separate array from those left by the walls

• Pheromones of each robot's local view should be published to a topic called ground/localPheromone/<robot_name>