Ros node implementation.
Just clone the repository in the src folder of a catkin workspace. Then run catkin_make.
If you wish to start a simulation you need to copy the stock gazebo worlds, i.e., *.world.original, inside /worlds.
To launch the simulation with three robots type:
roslaunch cooperative_transport simulation.launch
The launch file runs gazebo, the main controller (for each simulated robot) and a node that simulates the ir light bumper sensors of the irobot using the Hokuyo laser range finder data provided by gazebo.
The ir readings are available in the topics /ir_bumper_x where x identifies the robot.