DOP SIM

DOP SIM is a simulator using DOP (Data-oriented Programming) paradigm, supporting downwash effect of quadrotors!

This simulator only contains dynamics and body rate controller, and it leverages mavros_msgs as communication protocol, aiming to be compatible with MAVROS. If you want to achieve the effect in above gif, including trajectory generation and control, please visit another repository: https://github.com/Li-Jinjie/ndp_nmpc_qd.

Read paper for more details: https://arxiv.org/abs/2308.12698

Citation

@INPROCEEDINGS{author={Li, Jinjie and Han, Liang and Yu, Haoyang and Wang, Zhaotian and Yang, Pengzhi and Yan, Ziwei and Ren, Zhang},
  booktitle={ICRA 2023 Workshop on The Role of Robotics Simulators for Unmanned Aerial Vehicles},
  title={Potato: A Data-Oriented Programming 3D Simulator for Large-Scale Heterogeneous Swarm Robotics},
  year={2023},
  pages={1-4}}

Installation

1. install ROS noetic following http://wiki.ros.org/noetic/Installation/Ubuntu
2. install PyTorch with GPU option following https://pytorch.org/get-started/locally/
3. Create a workspace for ROS noetic, then go to the /src
4. sudo apt install ros-noetic-mavros-msgs
5. git clone https://github.com/Li-Jinjie/dop_sim.git
6. catkin build to build the whole workspace. Done!

Getting Started

Before each running: cd /path_to_workspace and then source devel/setup.bash

• If you want to make one quadrotor fly, just run roslaunch mul_qd_w_rviz.launch config_file:=one_qd_config.yaml
• If you want to make three quadrotor fly, just run roslaunch mul_qd_w_rviz.launch config_file:=three_qd_config.yaml
• If you want to make multiple quadrotors fly, just run roslaunch mul_qd_w_rviz.launch config_file:=mul_qd_config.yaml, and please change mul_qd_config.yaml as you wish.

How to measure model time (optional)

1. install LibTorch in C++
2. install pytorch in python
3. ROS is not a must, but it is recommended
4. run 'scripts/measure_model_time.py' to measure the time of python code and save to a model.
5. use CMakeLists.txt.w_cpp as CMakeLists.txt, then run 'src/measure_model_time.cpp' to measure the time of C++ code.

License

GPLv3. Please also open-source your project if you use the code from this repository. Let's make the whole community better!