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malintha / multi_uav_simulator

A drone swarm simulator based on ROS (Robot Operating System).
GNU General Public License v3.0
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A different URDF model for the large quadrotor #9

Closed malintha closed 2 years ago

malintha commented 2 years ago

Currently, there is only the crazyflie urdf model available for both the models. Need to add another quadrotor model for the large quadrotor dynamic model (the one described in Lee's geometric controller paper [1]).

[1] https://www.math.ucsd.edu/~mleok/pdf/LeLeMc2010_quadrotor.pdf

malintha commented 2 years ago

Also we need the ability to bind different quadrotor dynamical models to the new URDF models. In that way we can support simulating heterogeneous quadrotor swarms. This feature requires separating the current config.yaml file into multiple components; one to specify the robots' initial conditions and separate files to specify each robot type's model parameters and controller gains.

malintha commented 2 years ago

Feature added with : https://github.com/malintha/multi_uav_simulator/commit/f6d5936284871bf32b2199dc4151638785ecd0d9. The initial conditions for the robots are now stored in the config/initial_conditions.yaml. The controller gains and the quadrotor model parameters for the Lee's quadrotor and the Crazyflie are now stored in config/bigquad_params.yamland config/crazyflie_params.yaml files respectively.

malintha commented 2 years ago

Updated the readme with a750849c952abf36bb9019ee64d7ff2a0b2de05f