Simple Quad Simulator ROS

ROS-Rviz Quadcopter playground to test path planning and mapping algorithms (ROS package is called quad)

multiple drone formation	drone with given target
left-right	top-down

Setup

# Git clone this repo into your ws/src directory
cd <Workspace-Source-Directory>
git clone https://github.com/matthewoots/simple_quad_simulator.git
# Go to your ws directory
cd <Workspace-Directory>
catkin build
source devel/setup.bash

Quick run

roslaunch quad sample.launch

Generated run

# Acceptable formations are :
# 1. antipodal
# 2. horizontal-line
# 3. vertical-line
# 4. top-down-facing
# 5. left-right-facing
# etc roslaunch quad generated_antipodal_10.launch
roslaunch quad generated_<formation>_<number-of-drones>.launch

Setup multiple drone profiles

1. Generate display in rviz

cd simple_quad_simulator/scripts
python gen_rviz_display.py <number-of-drones>
# The file will be generated in simple_quad_simulator/rviz directory
# etc display_40.rviz

# To run rviz with the display configurations
cd simple_quad_simulator
# etc rosrun rviz rviz -d rviz/generated_display_10.rviz
rosrun rviz rviz -d rviz/generated_display_<number-of-drones>.rviz

2. Generate launch file for formation and number of uavs

# Format is as such : 
# python gen_launch.py <number-of-drones> antipodal <radius>
# python gen_launch.py <number-of-drones> horizontal-line <spacing>
# python gen_launch.py <number-of-drones> vertical-line <spacing>
# python gen_launch.py <number-of-drones> top-down-facing <space from center> <spacing>
# python gen_launch.py <number-of-drones> left-right-facing <space from center> <spacing>
# etc python gen_launch.py 10 antipodal 12
cd simple_quad_simulator/scripts
python gen_launch.py <format>
# The file will be generated in simple_quad_simulator/launch directory

Test functionality of drone messages

cd simple_quad_simulator/scripts
# Test whether single agent can receive /mavros/setpoint_raw/local (Target message)
python test_target.py 
# Test whether single agent can receive /trajectory/points
python test_trajectory.py 

References

1. Swarm-playground https://github.com/ZJU-FAST-Lab/EGO-Planner-v2