documents's Introduction

Brief introduction

It includes several realizations of simulation/experience of the drone swarm.

1. General prerequisites

Test environment: Ubuntu 18.04, ROS Melodic.
Simulator: Gazebo
Visualization tool: Rviz

2. Build on ROS

    cd ~/catkin_ws/src
    //necessary packages
    git clone https://github.com/zzzzzjh/drone_msg.git
    git clone https://github.com/zzzzzjh/pf_swarm.git
    
    //optional packages
    git clone https://github.com/zzzzzjh/drone_swarm.git
    git clone https://github.com/zzzzzjh/fake_drone_swarm.git
    
    //external localizetion packages
    git clone https://github.com/ros-drivers/vrpn_client_ros.git
    git clone https://github.com/nooploop-dev/nlink_parser.git
    
    //socket package
    git clone https://github.com/zzzzzjh/mavlink_socket.git
    cd ../
    catkin_make
    source ~/catkin_ws/devel/setup.bash

3. Design

drone_msg 包（repo）

包含了无人机集群所需的ROS消息文件
pf_swarm 包（repo）

对文章模型的复现和修改:

Vásárhelyi G, Virágh C, Somorjai G, et al. Optimized flocking of autonomous drones in confined environments[J]. Science Robotics, 2018, 3(20).
drone_swarm 包（repo）

基于ROS和PX4开发，效果如下

避撞与队形变换



牵制控制

实机飞行：
fake_drone_swarm 包（repo）

简化了飞机的动力学模型，实现大规模集群的仿真：
nlink_parser包（repo）

对nooploop公司UWB消息解析包
vrpn_client_ros 包（repo）

对Optitrack光学动捕定位消息解析包
mavlink_socket 包（repo）

与定制的Mcontroller飞控板通信的mavlink消息包