MAVROS based fleet trajectory control for swarming.
Install the dependencies
cd ~/catkin_ws/src
wstool init . ./mavros_swarm/dependencies.rosinstall
wstool update -t src -j4
If you have already initialized wstool replace wstool init with wstool merge
The package can be built by the following
catkin build formation_control
A example can be run by the following.
roslaunch formation_control sitl_multiuav_swarm.launch
This automatically enables offboard mode and arms the vehicle. The three vehicles will hover in the predefined position according to the fomraiton definition
Jaeyoung Lim [email protected]