An implementation of different collision avoidance algorithms for UAVs for Gazebo
Install Gazebo 9 as described in http://gazebosim.org/tutorials?tut=install_ubuntu
Clone this project on your pc
Export the following variable needed for Gazebo copying the following in your .bashrc
source /usr/share/gazebo/setup.sh
#Gazebo variable for location of the models,worlds and plugins
export GAZEBO_RESOURCE_PATH=<PATH-TO-THE-CLONED-REPO>/drones_gazebo/worlds:${GAZEBO_RESOURCE_PATH}
export GAZEBO_MODEL_PATH=<PATH-TO-THE-CLONED-REPO>/drones_gazebo/models:${GAZEBO_MODEL_PATH}
export GAZEBO_PLUGIN_PATH=<PATH-TO-THE-CLONED-REPO>/drones_gazebo/build:${GAZEBO_PLUGIN_PATH}
Install gazebo export path of model/world/plugins to .bashrc file generetare world file wiht
python generate.py -n <number_of_drones> -a <algorithm> -t <test>
<algorithm>: ORCA / BAPF / EAPF
<test>: 1 / 2
Run the simulation on gazebo with
gazebo drones_<number of drones>.world