[ Version 1 ] : Implemented Catcher the non-coorperative agents in ros (

#1)

* [ Essentials ]: Adds gitignore for ros_setup

* [ Initial Commit ]

* Adds a pic of note

* [ Buildable ]: Launch files are now buildable

* [ Minor Changes ] : One turtlebot can be controlled independently

* [ Turtlebot Addition ] : Adds another turtlebot and all three are now independent from each other

* [Cooking]

* [ Minor Changes ] : changed scripts/ to src/

* [Debugging]: converts some np.arrays to tuples

* [ Debugging ] : Mathematical and formatting errors

* [ Debugging ] : Counters addition

* [Debugging] : Using while not rospy.is_shutdown

* [Debugging] : Minimum cost coordinates not yet reflecting

* [Initial release with bug] : Debugging for normal cases done

* [ Finally done ]

* [ Minor Corrections ] : Corrections in the prediction functions

* [ New Python path ] : Path according to mambaforge env (will not work for anybody)

.gitignore

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+# Created by https://www.gitignore.io/api/c
+# Edit at https://www.gitignore.io/?templates=c
+
+.vscode
+### C ###
+# Prerequisites
+*.d
+
+# Object files
+*.o
+*.ko
+*.obj
+*.elf
+
+# Linker output
+*.ilk
+*.map
+*.exp
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Libraries
+*.lib
+*.a
+*.la
+*.lo
+
+# Shared objects (inc. Windows DLLs)
+*.dll
+*.so
+*.so.*
+*.dylib
+
+# Executables
+*.exe
+*.out
+*.app
+*.i*86
+*.x86_64
+*.hex
+
+# Debug files
+*.dSYM/
+*.su
+*.idb
+*.pdb
+
+# Kernel Module Compile Results
+*.mod*
+*.cmd
+.tmp_versions/
+modules.order
+Module.symvers
+Mkfile.old
+dkms.conf
+
+#build files test
+*/build
+
+# End of https://www.gitignore.io/api/c
+
+=======
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/

README.md

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+## Catching the non-cooperative agent
+
+This project is built upon the current implementation of the [Teaming Heterogeneous Ground and Micro-Aerial Robots for Following
+of Non-Cooperative Agents](https://raaslab.org/icra2023-hmrs/assets/contributed_papers/Ori_A_Miller_et_al.pdf)
+
+Targets:
+- [ ] Improving the prediction usiing kalman predictor
+- [ ] Using Fuel contraints to gain the optimal path that a UAV and UGV should follow
+- [ ] It is not necessary that UAV and UGV should follow same number of points they should be nearly independent
+
+![img](https://lh3.googleusercontent.com/8UXw1B8W2pv5L7X4VIjYxJCW99FevBTlxePC9rCUy8Wum401uCN7g5U9q6hapnJf-_HcGprfS4pObYFPwv_4PTFEXgSJl2U-eCagH7KHOYqMj-Eghug_qRIink8FoR7KFIYikL04n4a_u4wM2bc_wMVfI7L8r_8OBLTjzWU2-Y4dLRBUZja81R_rCE7Z0d_HNXUf1dWyX0SJXA3Zcr8mukAELd3DZNEH8A901ivj-TNbhZ1v_eIwIEW_VVQjIQLnbDgGGXOgpmHgZfi4Lklh34S6rKhcfrv_aHCM6IvXGT4zD52oobiUHbHAqGWHesDhDUqdfj1bysOnItPeVaRAScFlFd7Mz4zt1s3Z6BA0bY9a4NAPh881vGUTe4T4ufZB98XQm3OqVV8p4eckag70f19TgJNzdICD-UoY53ZGaREwgS4rU0tDK6rpvLnuO_myRvRaCXo5snw3EJb59vr23HDpcvdUgUwyovID1flbrrtsw4Y1xqP-DkKJJf6KmD6p4M5i4ubRsXLmtAtboXLcpS3zPLbAb9yfpDb15kwpRZjONn-S8hWimfeSVW90iRpQyRN_p8OBzxgsyN3R1T7ZQId5K5gAGVEW8I-_kD5EuAJdWzuOsgXMi7vPGPfCHWBdmegugRZM09bfK-w1vFCnSgF_LZ_TiB5VYXkpG3kYGC7uMnZTE5yLCkLK91VkM6y4kjSym64Nb05Xzck11FxaqopMeQpHEj0CNvgrBcjuSBeppB3YfiBwYGvaL05ts0Wi93VNLyp9Eqkt0pcsGXjEJAs9j9sPO8PH_ZuqYTdjix-Pk4fZJSl7VcemGy0ZRmzMg8P5XZlqszRyR-PZM5-scR349lsvHdLC-Wfmsg4veUlNAEfTlwifTEZKxXmvFnwZDceir9Fft8zTERWJlpabWnGUbkgO9cSebbfyoYoq1x3nFCcCSqZlvoyVLhA-aR-_BeHuAIRMWHLqwVt-cUESpnKh0WRUP0XBrxnFJiRxGpWJGWoyas9QgDI=w1024-h1366-s-no?authuser=0)
+
+### Setup
+
+Environment is free from obstacles (as of now), there are 3 turtlebots one of them is a non-cooperative agent and other two resembles UAV and UGV
+
+![turtlebot_spawned](https://github.com/aPR0T0/Catching-the-non-cooperative-agent/assets/97826285/72ce76dd-7516-4b29-85f5-5dfbc58ab701)