okalachev / drone-games

Победное решение для "Командных Игр Дронов". Команда Copter Express.

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