jdjd

real_robot/coordination_formation_control_pkg/config/crazyfliesConfig.yaml

 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]

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*/
 

real_robot/coordination_formation_control_pkg/config/missionConfig.yaml

-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

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">