diff --git a/real_robot/coordination_formation_control_pkg/config/crazyfliesConfig.yaml b/real_robot/coordination_formation_control_pkg/config/crazyfliesConfig.yaml index 1fb653cfd23bffd19295874468cfa376c9ca07c9..ccb63c8d161409967bd8c20b9074d7bdda110517 100644 --- a/real_robot/coordination_formation_control_pkg/config/crazyfliesConfig.yaml +++ b/real_robot/coordination_formation_control_pkg/config/crazyfliesConfig.yaml @@ -1,8 +1,8 @@ crazyflies: -# - id: 1 -# channel: 90 -# initialPosition: [0.0, 0.0, 0.0] -# type: default +- id: 1 + channel: 90 + initialPosition: [0.0, 0.0, 0.0] + type: default - id: 2 channel: 90 initialPosition: [0.0, 0.0, 0.0] diff --git a/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml b/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml index eb2d76ce8246fe278e1ed31810273e52fdb8a510..c81884d1cfb8df229a9969223db3830f3308130c 100644 --- a/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml +++ b/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml @@ -28,7 +28,7 @@ uav_h_alpha: 0.2 uav_h_beta: 0.9 uav_d_obs: 0 uav_nav_type: 2 #/* convergence approach -1, parallel approach 2*/ -uav_integrator: 1 #/* single/ double integrator*/ +uav_integrator: 2 #/* single/ double integrator*/ uav_dt: 0.01 #/* sample time*/ uav_int_max: 0.1 #/* maximum integral*/ diff --git a/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml b/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml index 7710049939c03fdd47c11f5af77175390ff1f9b9..e0455b43ead7b07fb6b390e97a8bd1fc06b51499 100644 --- a/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml +++ b/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml @@ -1,11 +1,11 @@ -n_drones: 1 +n_drones: 2 n_ugvs: 0 hz_freq: 50 # controller frquency mass: 33 # grams include_obstacle: false include_orientation: false n_obs: 0 -log_name: "/home/spot/steven_master_ws/src/coordination_formation_control_pkg/results/experiment_7/test" +log_name: "/home/spot/steven_master_ws/src/coordination_formation_control_pkg/results/experiment_8_working/test" enable_log: true # waypoint diff --git a/real_robot/coordination_formation_control_pkg/launch/mission_controller.launch b/real_robot/coordination_formation_control_pkg/launch/mission_controller.launch index 8764d658ff35374880ebf704eef1d0b79bdb060a..b302d49cfaf497d06d278fd18c1285197e6fbc52 100644 --- a/real_robot/coordination_formation_control_pkg/launch/mission_controller.launch +++ b/real_robot/coordination_formation_control_pkg/launch/mission_controller.launch @@ -8,10 +8,10 @@ output="screen"/> <!-- Initialize all the drones first --> - <!-- <group ns="uav_1"> + <group ns="uav_1"> <node name="drone_node" pkg="coordination_formation_control_pkg" type="drone_node" output="screen" args="1" launch-prefix="xterm -e"> </node> - </group> --> + </group> <group ns="uav_2"> <node name="drone_node" pkg="coordination_formation_control_pkg" type="drone_node" output="screen" args="2" launch-prefix="xterm -e"> diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_8_working/test_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_8_working/test_crazyflie_1_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..11204819d3ce10bca124bed0d83222c58bbd6a6a Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_8_working/test_crazyflie_1_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_8_working/test_crazyflie_2_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_8_working/test_crazyflie_2_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..0de3b9517f341b32bdf3876959c3ffd26ec9ac8e Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_8_working/test_crazyflie_2_logdata.bag differ