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malintha / multi_uav_simulator

A drone swarm simulator based on ROS (Robot Operating System).
GNU General Public License v3.0
129 stars 14 forks source link

Can we give navigation goal? #1

Closed iamrajee closed 2 years ago

iamrajee commented 2 years ago

After launching the simulation, how can we give a navigation goal?

malintha commented 2 years ago

If I remember correctly that's something under development in the dev branch. It depends on mav_trajectory_gen package [1] and can receive the sequence of goals. It also has receding horizon planning. But I have to update the readme with build instructions. [1] https://github.com/ethz-asl/mav_trajectory_generation

malintha commented 2 years ago

Check this line for starts. https://github.com/malintha/multi_uav_simulator/blob/dev/src/Quadrotor.cpp#L254 The replanning horizon is set to 0.25s to react to rapid changes, you can change it to the trajectory length if you don't need replanning.

iamrajee commented 2 years ago

Check this line for starts. https://github.com/malintha/multi_uav_simulator/blob/dev/src/Quadrotor.cpp#L254

Will do that, thank you.

malintha commented 2 years ago

Use this to publish the desired state goal to each robot as as a geometry_msgs::Point &pt. https://github.com/malintha/multi_uav_simulator/blob/dev/src/Quadrotor.cpp#L73

Williamwenda commented 2 years ago

Find here after launching a nearly empty Rviz. It would be great to provide some simple examples for those interested to play with the simulator. Thanks for sharing the code tho!

malintha commented 2 years ago

@Williamwenda I guess the config/simulation.rviz file has been missed out from the master branch. That populates the Rviz with robot models and other markers. I added that back in with https://github.com/malintha/multi_uav_simulator/commit/51810b3b6e095c22a8ecfe92520deb147c142cea, so it should show the drones now. Thanks for pointing that out. And thanks for the great suggestion! I will open a new thread for that.

Williamwenda commented 2 years ago

@malintha Just tried it out. The simulation is pretty cool! Nice work, dude.

malintha commented 2 years ago

The support for publishing goals and RHP is now tested and needs to be merged to the master. Check: https://github.com/malintha/multi_uav_simulator/pull/5.

iamrajee commented 2 years ago

The support for publishing goals and RHP is now tested on the dev branch and needs to be merged to the master. Check: #5.

Thank you :)

malintha commented 2 years ago

@iamrajee There are some conflicts needs to be resolved before merging. But feel free to give it a try from the dev branch. I'd be happy hear any inputs (or if anything's broken before merging). :)