mavros_swarm

MAVROS based fleet trajectory control for swarming.

Installing

Install the dependencies

cd ~/catkin_ws/src
wstool init . ./mavros_swarm/dependencies.rosinstall 
wstool update -t src -j4

If you have already initialized wstool replace wstool init with wstool merge

The package can be built by the following

catkin build formation_control

Running the code

A example can be run by the following.

roslaunch formation_control sitl_multiuav_swarm.launch

This automatically enables offboard mode and arms the vehicle. The three vehicles will hover in the predefined position according to the fomraiton definition

Contact

Jaeyoung Lim jalim@student.ethz.ch