drone-games
Task:
- https://github.com/acsl-mipt/drone-games/blob/main/.resources/TASK_5.md
- https://github.com/acsl-mipt/drone-games/blob/main/.resources/TASK_5_2.md
Video: https://youtu.be/6rFpPLcB3X4?t=24332.
Variant with dynamic PID coefficients computation is in the dynamic-pid
branch.
Installation
Create catkin workspace for Clover packages:
mkdir -p ~/clover_ws/src
cd ~/clover_ws/
catkin_make
Clone Clover repo:
cd clover_ws/src
git clone https://github.com/CopterExpress/clover.git
Build simple_offboard
target:
cd ~/clover_ws
catkin_make simple_offboard -DCATKIN_WHITELIST_PACKAGES=clover
catkin_make clover_generate_messages
Install dependencies:
sudo apt install geographiclib-tools
sudo geographiclib-get-geoids egm96-5
pip3 install PyGeodesy
pip3 install scipy
Replace px4_num.launch
in ~/drone-games/multiple-sitl/mavros
with px4_num.launch
in this directory.
Upload parameters from day2_1_cargo.params
to all drones OR replace ~/drone-games/airsim/settings.json
with settings.json
in this directory.
Running
Source clover_ws setup.bash:
source ~/clover_ws/devel/setup.bash
Run services:
roslaunch main.launch
Wait until mavros and all global position are initialized.
Run script:
python3 flight.py
Misc
Run simple_offboard:
roslaunch offboard.launch num:=X
Run 3 simple_offboard's:
roslaunch main.launch