main commands, control scripts, swarm packages and other essentials. Open issues freely of any kind! To start new work, check Tasks.md file
- Linux (Ubuntu 16.04 recommended)
- ROS
- MAVROS
- SITL(Software In The Loop)
- Ground Control Stations
- QGroundControl (Recommended)
- Mission Planner (On windows)
- Make a new ros workspace or use our ardupilot_ws preferabely in same folder where SITL is installed.
- Move to the directory, Remake the directory using
catkin_make - source the workspace using
source ./devel/setup.bash. - Now move to the directory containing script named demo-swarm.py
- Open the file, change the path variable according to your file directory structure, save the file
- Run
python demo-swarm.py - Enter the number of vehicles, you want to spawn
- It'll open the terminals for each instantiated vehicle with a seperate SYS_THISMAV id, which you'll be able to cross check
- Then, a ros script will be started, which will connect all the vehicles (This may fail)
- Open a new terminal, run
rqt, go to the menu either on menu bar or window's title bar, choose Plugins > Robot Tools > Runtime Monitor - Check if there is any error or warning
- If not, you're done with successfully initiating all the vehicles
- Go to your GCS, and connect to the respected UDP port of the vehicle, which you can find by writing
outputon the respective SITL terminal. You'll see every vehicle on the same window.