README.md

Aerostack2: A Software Framework for Developing Multi-robot Aerial Systems

If you use this code in your academic work, please cite (PDF):

@article{fernandez2023aerostack2,
  title={Aerostack2: A software framework for developing multi-robot aerial systems},
  author={Fernandez-Cortizas, Miguel and Molina, Martin and Arias-Perez, Pedro and Perez-Segui, Rafael and Perez-Saura, David and Campoy, Pascual},
  journal={arXiv preprint arXiv:2303.18237},
  year={2023}
}

This work is released under BSD 3-Clause License.

Installation

This project has been developed in Ubuntu 22.04 LTS, ROS 2 Humble and Aerostack2.

• Install ROS 2 Humble [guide].
• Install Aerostack2 [guide] forked repository:

sudo apt install git python3-rosdep python3-pip python3-colcon-common-extensions -y  # previous deps
mkdir -p ~/aerostack2_ws/src/ && cd ~/aerostack2_ws/src/
git clone https://github.com/aerostack2/aerostack2.git
cd ~/aerostack2_ws
sudo rosdep init
rosdep update
rosdep install -y -r -q --from-paths src --ignore-src

• Build Aerostack2:

cd ~/aerostack2_ws
colcon build --symlink-install

• Clone launching repository:

git clone https://github.com/aerostack2/hands_on_example_project.git

How to launch (Simulation)

Launch Aerostack2

# Try ./launch_as2.sh -h for help
./launch_as2.bash -s

Launch mission

python mission.py -s

How to stop

./stop.bash

---

How to launch (Real)

Launch Aerostack2

# Try ./launch_as2.sh -h for help
./launch_as2.bash -e mocap_pose

Launch mission

python mission.py

How to stop

./stop.bash

How to choose number of drones

At file config/swarm_config_file.yaml change the list of drones.

cf0:
  uri: radio://0/80/2M/E7E7E7E7E7
cf1:
  uri: radio://0/80/2M/E7E7E7E700
# Commented drones will not be launched
# cf2:
#   uri: radio://0/80/2M/E7E7E7E702