FINAL PROJECT: Autonomous Drones

A set of two drones exploring an unknown environment together, and merging the result as one octomap.

Team: Help me, I'm droneing!

• Thomas Borge Skøien
• Geir Ola Tvinnereim
• Mohamad Ammach
• Vegard Haraldstad

Dependencies:

Run the following commands to install the necessary dependencies:

sudo apt install ros-noetic-explore-lite
sudo apt install ros-noetic-move-base
sudo apt-get install ros-noetic-octomap-server

Spawning the simulation and initiating mission

roslaunch simulation simulation.launch
roslaunch simulation mission.launch

If you get this error: ERROR: cannot launch node of type [simulation/Two_Drones.x86_64]: Cannot locate node of type [Two_Drones.x86_64] in package [simulation]. Make sure file exists in package path and permission is set to executable (chmod +x)

Add the lightweight drone simulation to /devel/lib/simulation/, navigate to workspace and call:

sh executable.sh

Overview - Modularization and rqt_graph

For more information, refer to the documentation file

ROS_Documentation__Autonomous_Drones