rbccps-iisc/AutonomousDrones

This repository will contain code and parameters for the Autonomous Drones project.

AutonomousDrones

This is a project to establish and execute a successful surveillance algorithm using multiple drones.

System and Software Versions -

OS: Ubuntu 18.04  
Gazebo: gazebo-9  
ROS: ROS melodic  
GCS: QGroundControl  
Python: python3.6.9 

Installations -

1. Ubuntu

2. Gazebo
   Please note that installation link might be updated to a later version of Gazebo!

3. ROS

4. ArduPilot
   Recommended: Fork and clone the above repo!

5. QGroundControl
   Please note that we only require the installation for Ubuntu Linux!

Additional Setup -

In order to support a multi-drone framework, we need to make some additional changes -

1. setup qgroundcontrol (QGC) to accept multiple vehicles -
   • Open QGC
   • navigate to the settings tab and click on Comm Links
   • Click Add
   • Fill in the vehicle TCP port as shown
   • Repeat for adding new vehicles on different TCP ports
   • Note: TCP ports for each vehicle are separated by a value of 100. Therefore, vehicle1 = 8100, vehicle2 = 8200, vehicle3 = 8300 ...

Simulation Prerequisite -

• Make a catkin workspace in your home directory -

  $ mkdir -p ~/catkin_proj/src
  $ cd ~/catkin_proj/src
  $ git clone https://github.com/rbccps-iisc/AutonomousDrones.git
  $ cd ~/catkin_proj
  $ catkin build --cmake-args -DPYTHON_VERSION=3.6

Simulation Setup -

• Models

  • The models used in the environment are located in models

• Worlds

  • The world files used for using these models in gazebo is located in worlds

• Launch Files

  • The launch files used for using these models in gazebo is located in launch files

• Scripts

  • The scripts for running simulations are located in scripts
  • The scripts for running on the drone's on-board computer are located in scripts
  • Description of the functionality of each script in this directory is mentioned as a comment at the beginning of the script file.

Simulation Usage -

Run each of the following steps in separate terminals -

1. launch gazebo world:

   $ cd ~/catkin_proj/src/AutonomousDrones
   $ LaunchAPM.sh

2. start ardupilot for multiple drones:

   $ cd ~/ardupilot/Tools/autotest
   $ ./multi-ardupilot.sh

3. launch mavros for multiple drones:

   $ roslaunch iq_sim multi-am.launch

4. start QGC:

   $ ./QGroundControl.AppImage

   • In QGC, navigate to the settings tab and click on Comm Links. Then, connect all three vehicles.

5. Running Scripts:

   • Terminal 1

     $ cd ~/catkin_proj/src/AutonomousDrones/Simulation/scripts
     $ python3 drone1_mission.py

   • Terminal 2

     $ cd ~/catkin_proj/src/AutonomousDrones/Simulation/scripts
     $ python3 drone2_mission.py

   • Terminal 3

     $ cd ~/catkin_proj/src/AutonomousDrones/Simulation/scripts
     $ python3 drone3_mission.py

   • Terminal 4

     $ cd ~/catkin_proj/src/AutonomousDrones/Simulation/scripts
     $ python3 gcs_control.py