ros_swarm_control

The ROS package to control the swarm of robots on the base px4 with data transmission through Rosbridge.

Packages

swarm_server

Enables monitoring of the status of drones. The operation modes and setting of initial parameters.

rosrun swarm_server swarm_server.py

swarm_control

roslaunch swarm_contol swarm_contol.launch

Allows you to control a group of a given formation through RVIZ. Available supervisory control of group with avoiding system based on potential field.

params

1. In swarm_contol.launch set the maximum speed of movement of the group.

2. In ../param/config.yaml edit formation params of group.

Dependences

1. Install from apt
   sudo apt install python-websocket ros-$ROS_DISTRO-rospy-message-converter
2. install WebsocketROSClientPython

Branch:

• rc_car (for rc_car_ros)
• px4_drone (for a private project)

Stage: In the development