Dependancies This is the code for constructing 3D navigation function over the squircle world that can be used to plan the motion of multiple quadrotors simulteneously. Successful running this code depends on:
i) rotors_simulator https://github.com/ethz-asl/rotors_simulator
ii) turtlebot_gazebo from "Turtlebot2". The package is not added but can be installed using guidelines from http://wiki.ros.org/turtlebot/Tutorials/indigo/Turtlebot%20Installation
iii) pyquaternion: install using "pip install pyquaternion", used in controller code
iv) the optimization was solved using academic license of gurobipy and it needs to be installed by downloading the software from https://www.gurobi.com/registration/download-reg and following installation instructions.
Installation instructions: clone the files in your catkin_ws and run cd ~catkin_ws catkin build
dependancies for installing rotors_simulator can be found at: https://github.com/ethz-asl/rotors_simulator
Lauching the code: After cloing the original rotors_simulator package, change the rotors_gazebo folder from this repository install rotors_simulator, turtlebot and planning and control launch quadrotors: roslaunch rotors_gazebo three_multicopters.launch world_name:=basic_R2 lauch turtlebot: roslaunch rotors_gazebo three_multicopters.launch world_name:=basic_R2 launch simulation: roslaunch planning_and_control multiple_firely.launch
Basic Uses:
The file "3DNF_MRSpaper_ros_R1.py" is the navigation function based plannner, define the obstacles as:
self.no_of_obstacles = 9 # this number includes workspace boundary
self.O= [
[0.0, 0.0, 15.0, 15.0, 0.9999, 0.0, 1.0, 1.0, 1.0],
[-6.0, -8.0, 4.05, 0.8, 0.9999, 0.0, 1.0, 1.0, 0.2],
[6.0, -8.0, 1.05, 0.8, 0.9999, 0.0, 1.0, 1.0, 0.8],
[0.0, -4.0, 2.05, 0.8, 0.9999, 0.0, 1.0, 1.0, 0.4],
[-6.0, 0.0, 1.55, 0.8, 0.9999, 0.0, 1.0, 1.0, 0.533],
[6.0, 0.0, 2.55, 0.8, 0.9999, 0.0, 1.0, 1.0, 0.32],
[0.0, 4.0, 1.55, 0.8, 0.9999, 0.0, 1.0, 1.0, 0.533],
[-6.0, 8.0, 3.05, 0.8, 0.9999, 0.0, 1.0, 1.0, 0.266],
[6.0, 8.0, 1.05, 0.8, 0.9999, 0.0, 1.0, 1.0, 0.8]
]
First obstacle is the workspace, the sequence is: x, y, z position of obstacle center, radius of the sqauircle, squircle smoothing factor s (close to 1) angle about z axis and scale in 3 directions it is possible to add or remove any obstacles as per your workspace but it would need turning the navitaion function parameters self.k, self.lambda_sq, self.lambda_sp in the same file.
It is possible to change the motion of the turtlebot in move_turtlebot.py file. It is possible to add more quadrotors in launch files "three_multicopters.launch" and "multiple_firely.launch"
The file "sensor_placement_using_qcp_ros.py" generates the goal for the quads solving qp, if you change the number of quads this file should be changed.