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Brief introduction

It includes several realizations of simulation/experience of the drone swarm.

1. General prerequisites

  • Test environment: Ubuntu 18.04, ROS Melodic.
  • Simulator: Gazebo
  • Visualization tool: Rviz

2. Build on ROS

    cd ~/catkin_ws/src
    //necessary packages
    git clone https://github.com/zzzzzjh/drone_msg.git
    git clone https://github.com/zzzzzjh/pf_swarm.git
    
    //optional packages
    git clone https://github.com/zzzzzjh/drone_swarm.git
    git clone https://github.com/zzzzzjh/fake_drone_swarm.git
    
    //external localizetion packages
    git clone https://github.com/ros-drivers/vrpn_client_ros.git
    git clone https://github.com/nooploop-dev/nlink_parser.git
    
    //socket package
    git clone https://github.com/zzzzzjh/mavlink_socket.git
    cd ../
    catkin_make
    source ~/catkin_ws/devel/setup.bash

3. Design

4. Todo

  • Mcontroller控制程序包
  • 室外gps/rtk定位下的集群程序
  • 人机交互界面程序
  • ....