diff --git a/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml b/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml
index 01ca4bb5644ffa1b3b43a84c3c306c6a1f48dfa7..a3de0fa087b6e55495ef56af49b11b043cd7ee98 100644
--- a/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml
+++ b/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml
@@ -1,9 +1,9 @@
# Uav
uav_c1_alpha: 0.20
-uav_c2_alpha: 0.25 # this is recomputed
+uav_c2_alpha: 0.5 # this is recomputed
uav_c1_beta: 0.3
uav_c2_beta: 0.1 # this is recomputed
-uav_c1_gamma: 0.1
+uav_c1_gamma: 0.05
uav_c2_gamma: 0.2
uav_c1_theta: 0.1
uav_c1_delta: 0.07
@@ -35,17 +35,17 @@ uav_int_max: 0.1 #/* maximum integral*/
# ugv
# Uav
-ugv_c1_alpha: 1
+ugv_c1_alpha: 0.6
ugv_c2_alpha: 1 # this is recomputed
ugv_c1_beta: 0.35
ugv_c2_beta: 1 # this is recomputed
ugv_c1_gamma: 0.25
ugv_c2_gamma: 0.2
ugv_c1_theta: 0.0
-ugv_c1_delta: 0.1
+ugv_c1_delta: 0.0
-ugv_d: 1
+ugv_d: 0.3
ugv_formation_t: 2 #/* type must be minimum 2, 3: tuangle formation, 4 suare, 5 pentagon*/
ugv_k: 7
ugv_ratio: 0.8 # /* ratio between dist inter and obstacle*/
diff --git a/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml b/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml
index 37feedc3254c8fb0812dba4a5a53aeaa76032f94..0f1d40c5843064de3c836365b6993dc47dc61bc4 100644
--- a/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml
+++ b/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml
@@ -1,10 +1,10 @@
n_drones: 3
-n_ugvs: 0
+n_ugvs: 2
hz_freq: 50 # controller frquency
-include_obstacle: true
-include_orientation: false
-n_obs: 1
-log_name: "/home/spot/steven_master_ws/src/coordination_formation_control_pkg/results/experiment_4_formation_3_uav_obstacle1/result"
+include_obstacle: false
+include_orientation: true
+n_obs: 0
+log_name: "/home/spot/steven_master_ws/src/coordination_formation_control_pkg/results/experiment_6_formation_3_uav_2_ugv/result"
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 6ca7f7c07e4b0d5037302688a0582f0adc0143ca..e7ca7b05c5ca95b16a22176642693632ea16bf58 100644
--- a/real_robot/coordination_formation_control_pkg/launch/mission_controller.launch
+++ b/real_robot/coordination_formation_control_pkg/launch/mission_controller.launch
@@ -7,6 +7,16 @@
<node name="mission_controller" pkg="coordination_formation_control_pkg" type="mission_controller" respawn="false"
output="screen"/>
+
+
+ <group ns="omniwheel_1">
+ <node name="omniwheel_node" pkg="coordination_formation_control_pkg" type="omniwheel_node" output="screen" args="1" launch-prefix="xterm -e">
+ </node>
+ </group>
+ <group ns="omniwheel_2">
+ <node name="omniwheel_node" pkg="coordination_formation_control_pkg" type="omniwheel_node" output="screen" args="2" launch-prefix="xterm -e">
+ </node>
+ </group>
<!-- Initialize all the drones first -->
<group ns="uav_1">
<node name="drone_node" pkg="coordination_formation_control_pkg" type="drone_node" output="screen" args="1" launch-prefix="xterm -e">
@@ -34,15 +44,8 @@
- <!-- <group ns="omniwheel_1">
- <node name="omniwheel_node" pkg="coordination_formation_control_pkg" type="omniwheel_node" output="screen" args="1" launch-prefix="xterm -e">
- </node>
- </group>
- <group ns="omniwheel_2">
- <node name="omniwheel_node" pkg="coordination_formation_control_pkg" type="omniwheel_node" output="screen" args="2" launch-prefix="xterm -e">
- </node>
- </group> -->
+
<!-- launch dynamic reconfigure -->
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_3_formation_3_uav_orientation/parameters b/real_robot/coordination_formation_control_pkg/results/experiment_3_formation_3_uav_orientation/parameters
index 21f72144e20b03df9f36a1f4ab2610311c98c77f..73040b516da22dc398058f06f6b9e6de86ca2aff 100644
--- a/real_robot/coordination_formation_control_pkg/results/experiment_3_formation_3_uav_orientation/parameters
+++ b/real_robot/coordination_formation_control_pkg/results/experiment_3_formation_3_uav_orientation/parameters
@@ -1,10 +1,11 @@
(1.7, 0) position, (0.01,0), velocity
# Uav
+# Uav
uav_c1_alpha: 0.20
uav_c2_alpha: 0.25 # this is recomputed
uav_c1_beta: 0.3
uav_c2_beta: 0.1 # this is recomputed
-uav_c1_gamma: 0.25
+uav_c1_gamma: 0.1
uav_c2_gamma: 0.2
uav_c1_theta: 0.1
uav_c1_delta: 0.07
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_4_formation_3_uav_obstacle1/parameters b/real_robot/coordination_formation_control_pkg/results/experiment_4_formation_3_uav_obstacle1/parameters
index 21f72144e20b03df9f36a1f4ab2610311c98c77f..73040b516da22dc398058f06f6b9e6de86ca2aff 100644
--- a/real_robot/coordination_formation_control_pkg/results/experiment_4_formation_3_uav_obstacle1/parameters
+++ b/real_robot/coordination_formation_control_pkg/results/experiment_4_formation_3_uav_obstacle1/parameters
@@ -1,10 +1,11 @@
(1.7, 0) position, (0.01,0), velocity
# Uav
+# Uav
uav_c1_alpha: 0.20
uav_c2_alpha: 0.25 # this is recomputed
uav_c1_beta: 0.3
uav_c2_beta: 0.1 # this is recomputed
-uav_c1_gamma: 0.25
+uav_c1_gamma: 0.1
uav_c2_gamma: 0.2
uav_c1_theta: 0.1
uav_c1_delta: 0.07
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_4_formation_3_uav_obstacle1/result_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_4_formation_3_uav_obstacle1/result_crazyflie_1_logdata.bag
index 9dad830eea11ddd94e97cee1f9867b93814b6146..a77cd86a41e49c82040e0e4c7a213b7674c9ed16 100644
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diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_4_formation_3_uav_obstacle1/result_crazyflie_2_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_4_formation_3_uav_obstacle1/result_crazyflie_2_logdata.bag
index 7153a7aeaa42f036f72d860cf60380ecf3185e74..0862a55b367e7b0168d5865dfc7be03eaffd89b6 100644
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diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_4_formation_3_uav_obstacle1/result_crazyflie_3_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_4_formation_3_uav_obstacle1/result_crazyflie_3_logdata.bag
index 4b09891c83e5b89298fbd5886ab136aba6dae1c5..10816a5a3081a241f0e6494f7e5e0532c252d7c7 100644
Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_4_formation_3_uav_obstacle1/result_crazyflie_3_logdata.bag and b/real_robot/coordination_formation_control_pkg/results/experiment_4_formation_3_uav_obstacle1/result_crazyflie_3_logdata.bag differ
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_5_formation_3_uav_obstacle2/parameters b/real_robot/coordination_formation_control_pkg/results/experiment_5_formation_3_uav_obstacle2/parameters
new file mode 100644
index 0000000000000000000000000000000000000000..215ce45e79c81828f893de6710230eed75628eb2
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/results/experiment_5_formation_3_uav_obstacle2/parameters
@@ -0,0 +1,61 @@
+# Uav
+uav_c1_alpha: 0.20
+uav_c2_alpha: 0.5 # this is recomputed
+uav_c1_beta: 1
+uav_c2_beta: 0.1 # this is recomputed
+uav_c1_gamma: 0.05
+uav_c2_gamma: 0.2
+uav_c1_theta: 0.1
+uav_c1_delta: 0.00
+
+# uav_c1_alpha: 0.035
+# uav_c2_alpha: 0.04 # this is recomputed
+# uav_c1_beta: 0.04
+# uav_c2_beta: 0.02 # this is recomputed
+# uav_c1_gamma: 0.02
+# uav_c2_gamma: 0.03
+# uav_c1_theta: 0.3
+# uav_c1_delta: 0.01
+
+uav_d: 0.8
+uav_formation_t: 3 #/* type must be minimum 2, 3: tuangle formation, 4 suare, 5 pentagon*/
+uav_k: 7
+uav_ratio: 0.8 # /* ratio between dist inter and obstacle*/
+uav_eps: 0.1
+uav_a: 5
+uav_b: 5
+uav_h_alpha: 0.2
+uav_h_beta: 0.9
+uav_d_obs: 0
+uav_nav_type: 1 #/* convergence approach -1, parallel approach 2*/
+uav_integrator: 2 #/* single/ double integrator*/
+uav_dt: 0.01 #/* sample time*/
+uav_int_max: 0.1 #/* maximum integral*/
+
+# ugv
+
+# Uav
+ugv_c1_alpha: 1
+ugv_c2_alpha: 1 # this is recomputed
+ugv_c1_beta: 0.35
+ugv_c2_beta: 1 # this is recomputed
+ugv_c1_gamma: 0.25
+ugv_c2_gamma: 0.2
+ugv_c1_theta: 0.0
+ugv_c1_delta: 0.1
+
+
+ugv_d: 1
+ugv_formation_t: 2 #/* type must be minimum 2, 3: tuangle formation, 4 suare, 5 pentagon*/
+ugv_k: 7
+ugv_ratio: 0.8 # /* ratio between dist inter and obstacle*/
+ugv_eps: 0.1
+ugv_a: 5
+ugv_b: 5
+ugv_h_alpha: 0.2
+ugv_h_beta: 0.9
+ugv_d_obs: 0
+ugv_nav_type: 1 #/* convergence approach -1, parallel approach 2*/
+ugv_integrator: 1 #/* single/ double integrator*/
+ugv_dt: 0.02 #/* sample time*/
+ugv_int_max: 0.1 #/* maximum integral*/
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_5_formation_3_uav_obstacle2/result_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_5_formation_3_uav_obstacle2/result_crazyflie_1_logdata.bag
new file mode 100644
index 0000000000000000000000000000000000000000..40b576e32eb291fba4ed988647db4c48df08c7a6
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diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_5_formation_3_uav_obstacle2/result_crazyflie_3_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_5_formation_3_uav_obstacle2/result_crazyflie_3_logdata.bag
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index 0000000000000000000000000000000000000000..e7e0cec874093709c938088b96e2952536f7c65d
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diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_6_formation_3_uav_1_ugv/parameters b/real_robot/coordination_formation_control_pkg/results/experiment_6_formation_3_uav_1_ugv/parameters
new file mode 100644
index 0000000000000000000000000000000000000000..81d36e99e8ad4154e93f1ca0c9aa5f749276e3e7
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/results/experiment_6_formation_3_uav_1_ugv/parameters
@@ -0,0 +1,63 @@
+flock at position(1.72, 0) position(0.01,0)
+# Uav
+# Uav
+uav_c1_alpha: 0.20
+uav_c2_alpha: 0.5 # this is recomputed
+uav_c1_beta: 0.3
+uav_c2_beta: 0.1 # this is recomputed
+uav_c1_gamma: 0.05
+uav_c2_gamma: 0.2
+uav_c1_theta: 0.1
+uav_c1_delta: 0.07
+
+# uav_c1_alpha: 0.035
+# uav_c2_alpha: 0.04 # this is recomputed
+# uav_c1_beta: 0.04
+# uav_c2_beta: 0.02 # this is recomputed
+# uav_c1_gamma: 0.02
+# uav_c2_gamma: 0.03
+# uav_c1_theta: 0.3
+# uav_c1_delta: 0.01
+
+uav_d: 0.8
+uav_formation_t: 3 #/* type must be minimum 2, 3: tuangle formation, 4 suare, 5 pentagon*/
+uav_k: 7
+uav_ratio: 0.8 # /* ratio between dist inter and obstacle*/
+uav_eps: 0.1
+uav_a: 5
+uav_b: 5
+uav_h_alpha: 0.2
+uav_h_beta: 0.9
+uav_d_obs: 0
+uav_nav_type: 1 #/* convergence approach -1, parallel approach 2*/
+uav_integrator: 2 #/* single/ double integrator*/
+uav_dt: 0.01 #/* sample time*/
+uav_int_max: 0.1 #/* maximum integral*/
+
+# ugv
+
+# Uav
+ugv_c1_alpha: 1
+ugv_c2_alpha: 1 # this is recomputed
+ugv_c1_beta: 0.35
+ugv_c2_beta: 1 # this is recomputed
+ugv_c1_gamma: 0.25
+ugv_c2_gamma: 0.2
+ugv_c1_theta: 0.1
+ugv_c1_delta: 0.1
+
+
+ugv_d: 1
+ugv_formation_t: 2 #/* type must be minimum 2, 3: tuangle formation, 4 suare, 5 pentagon*/
+ugv_k: 7
+ugv_ratio: 0.8 # /* ratio between dist inter and obstacle*/
+ugv_eps: 0.1
+ugv_a: 5
+ugv_b: 5
+ugv_h_alpha: 0.2
+ugv_h_beta: 0.9
+ugv_d_obs: 0
+ugv_nav_type: 1 #/* convergence approach -1, parallel approach 2*/
+ugv_integrator: 1 #/* single/ double integrator*/
+ugv_dt: 0.02 #/* sample time*/
+ugv_int_max: 0.1 #/* maximum integral*/
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_6_formation_3_uav_1_ugv/result_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_6_formation_3_uav_1_ugv/result_crazyflie_1_logdata.bag
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diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_6_formation_3_uav_1_ugv/result_omniwheel_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_6_formation_3_uav_1_ugv/result_omniwheel_1_logdata.bag
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diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_6_formation_3_uav_2_ugv/parameters b/real_robot/coordination_formation_control_pkg/results/experiment_6_formation_3_uav_2_ugv/parameters
new file mode 100644
index 0000000000000000000000000000000000000000..81d36e99e8ad4154e93f1ca0c9aa5f749276e3e7
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/results/experiment_6_formation_3_uav_2_ugv/parameters
@@ -0,0 +1,63 @@
+flock at position(1.72, 0) position(0.01,0)
+# Uav
+# Uav
+uav_c1_alpha: 0.20
+uav_c2_alpha: 0.5 # this is recomputed
+uav_c1_beta: 0.3
+uav_c2_beta: 0.1 # this is recomputed
+uav_c1_gamma: 0.05
+uav_c2_gamma: 0.2
+uav_c1_theta: 0.1
+uav_c1_delta: 0.07
+
+# uav_c1_alpha: 0.035
+# uav_c2_alpha: 0.04 # this is recomputed
+# uav_c1_beta: 0.04
+# uav_c2_beta: 0.02 # this is recomputed
+# uav_c1_gamma: 0.02
+# uav_c2_gamma: 0.03
+# uav_c1_theta: 0.3
+# uav_c1_delta: 0.01
+
+uav_d: 0.8
+uav_formation_t: 3 #/* type must be minimum 2, 3: tuangle formation, 4 suare, 5 pentagon*/
+uav_k: 7
+uav_ratio: 0.8 # /* ratio between dist inter and obstacle*/
+uav_eps: 0.1
+uav_a: 5
+uav_b: 5
+uav_h_alpha: 0.2
+uav_h_beta: 0.9
+uav_d_obs: 0
+uav_nav_type: 1 #/* convergence approach -1, parallel approach 2*/
+uav_integrator: 2 #/* single/ double integrator*/
+uav_dt: 0.01 #/* sample time*/
+uav_int_max: 0.1 #/* maximum integral*/
+
+# ugv
+
+# Uav
+ugv_c1_alpha: 1
+ugv_c2_alpha: 1 # this is recomputed
+ugv_c1_beta: 0.35
+ugv_c2_beta: 1 # this is recomputed
+ugv_c1_gamma: 0.25
+ugv_c2_gamma: 0.2
+ugv_c1_theta: 0.1
+ugv_c1_delta: 0.1
+
+
+ugv_d: 1
+ugv_formation_t: 2 #/* type must be minimum 2, 3: tuangle formation, 4 suare, 5 pentagon*/
+ugv_k: 7
+ugv_ratio: 0.8 # /* ratio between dist inter and obstacle*/
+ugv_eps: 0.1
+ugv_a: 5
+ugv_b: 5
+ugv_h_alpha: 0.2
+ugv_h_beta: 0.9
+ugv_d_obs: 0
+ugv_nav_type: 1 #/* convergence approach -1, parallel approach 2*/
+ugv_integrator: 1 #/* single/ double integrator*/
+ugv_dt: 0.02 #/* sample time*/
+ugv_int_max: 0.1 #/* maximum integral*/
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_6_formation_3_uav_2_ugv/result_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_6_formation_3_uav_2_ugv/result_crazyflie_1_logdata.bag
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diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_6_formation_3_uav_2_ugv/result_omniwheel_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_6_formation_3_uav_2_ugv/result_omniwheel_1_logdata.bag
new file mode 100644
index 0000000000000000000000000000000000000000..b90896bb766ee03d414658cfe71987d50b268d7d
Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_6_formation_3_uav_2_ugv/result_omniwheel_1_logdata.bag differ
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_6_formation_3_uav_2_ugv/result_omniwheel_2_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_6_formation_3_uav_2_ugv/result_omniwheel_2_logdata.bag
new file mode 100644
index 0000000000000000000000000000000000000000..66fd6291d7740aa0fef43c5784d5ee3f3b773131
Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_6_formation_3_uav_2_ugv/result_omniwheel_2_logdata.bag differ
diff --git a/real_robot/coordination_formation_control_pkg/scripts/plot_real_experiment_pgf_plot.py b/real_robot/coordination_formation_control_pkg/scripts/plot_real_experiment_pgf_plot.py
index 088136fbff2142ecffec95a1f2965e74dee3a087..862f361ae8e1131cc47a8ce620080993b7b0e7e6 100644
--- a/real_robot/coordination_formation_control_pkg/scripts/plot_real_experiment_pgf_plot.py
+++ b/real_robot/coordination_formation_control_pkg/scripts/plot_real_experiment_pgf_plot.py
@@ -3,38 +3,38 @@ from numpy import genfromtxt
import matplotlib
import rosbag
import time
-# #
-matplotlib.use("pgf")
-matplotlib.rcParams.update({
- "pgf.texsystem": "pdflatex",
- 'font.family': 'serif',
- 'text.usetex': True,
- # 'tick.labelsize': 0.05, # large tick labels
- 'ytick.labelsize': 'xx-small',
- 'xtick.labelsize': 'xx-small',
- 'pgf.rcfonts': False,
- "figure.autolayout": True,
- # "pgf.preamble": [
- # r"\usepackage[utf8x]{inputenc}",
- # r"\usepackage[T1]{fontenc}",
- # ],
-})
+#
+# matplotlib.use("pgf")
+# matplotlib.rcParams.update({
+# "pgf.texsystem": "pdflatex",
+# 'font.family': 'serif',
+# 'text.usetex': True,
+# # 'tick.labelsize': 0.05, # large tick labels
+# 'ytick.labelsize': 'xx-small',
+# 'xtick.labelsize': 'xx-small',
+# 'pgf.rcfonts': False,
+# "figure.autolayout": True,
+# # "pgf.preamble": [
+# # r"\usepackage[utf8x]{inputenc}",
+# # r"\usepackage[T1]{fontenc}",
+# # ],
+# })
from matplotlib import pyplot as plt
### obtain information from topic
# basic configurations
result_folder_name = "/home/spot/masters_thesis_stevedan/formation_coordination_uav_ugv/real_robot/coordination_formation_control_pkg/results"
-file_name = "/experiment_3_formation_3_uav_orientation/experiment_4_formation_3_uav_obstacle1.bag"
-topic_name = "crazyflie_2" + "result"
+file_name = "/experiment_6_formation_3_uav_2_ugv/result_crazyflie_1_logdata.bag"
+topic_name = "crazyflie_1" + "result"
bag = rosbag.Bag(result_folder_name + file_name)
N_uavs = 3
-N_ugvs = 0
-n_obstacles = 1
+N_ugvs = 2
+n_obstacles = 0
d_uav = 0.8;
-d_ugv = 0.5;
+d_ugv = 1;
ratio_uav = 0.8;
-ratio_ugv = 7;
+ratio_ugv = 0.8;
d_uav2obs = d_uav*ratio_uav;
d_ugv2obs = d_ugv*ratio_ugv;
@@ -70,10 +70,10 @@ for topics, msg, t in bag.read_messages(topics =[topic_name]):
acc_row_[ind*2+1] = msg.current_acc[ind].linear.y
if N_ugvs >0:
for ind, pose in enumerate(msg.ugv_current_pose):
- ugv_pose_row_[ind*2] = ugv_current_pose.position.x
- ugv_pose_row_[ind*2+1] = ugv_current_pose.position.y
- ugv_cluster_pose_row_[ind*2] = ugv_cluster.position.x
- ugv_cluster_pose_row_[ind*2+1] = ugv_cluster.position.y
+ ugv_pose_row_[ind*2] = pose.position.x
+ ugv_pose_row_[ind*2+1] = pose.position.y
+ ugv_cluster_pose_row_[ind*2] = msg.ugv_cluster[ind].position.x
+ ugv_cluster_pose_row_[ind*2+1] = msg.ugv_cluster[ind].position.y
if abs(pose_row_[ind]) > 0.00000001:
# print(pose_row_)
# print(pose_row_)
@@ -135,7 +135,8 @@ if n_obstacles > 0:
# print(position_y)
-
+# print(ugv_cluster_y)
+# print(ugv_position_y)
# if N_ugvs > 0:
@@ -183,9 +184,9 @@ if N_ugvs > 0:
#plot final configuration
axis_traj.plot(np.append(position_x[-1,:],position_x[-1,0]) , np.append(position_y[-1,:],position_y[-1,0]),"r")
-if N_ugvs > 0:
- axis_traj.plot(np.append(ugv_position_x[-1,0],cluster_x[-1,0]) , np.append(ugv_position_y[-1,0],cluster_y[-1,0]),"k")
- axis_traj.plot(np.append(ugv_position_x[-1,1],cluster_x[-1,1]) , np.append(ugv_position_y[-1,1],cluster_y[-1,1]),"k")
+# if N_ugvs > 0:
+# axis_traj.plot(np.append(ugv_position_x[-1,:],ugv_cluster_x[-1,:]) , np.append(ugv_position_y[-1,:],ugv_cluster_y[-1,:]),"k")
+# axis_traj.plot(np.append(ugv_position_x[-1,:],ugv_cluster_x[-1,:]) , np.append(ugv_position_y[-1,:],ugv_cluster_y[-1,:]),"k")
#plot trajectories
color_array = ["c", "g","b", "y", "m", "C1", "C2"]
# plot the uavs
@@ -202,7 +203,7 @@ for t in range(N_ugvs):
# plot the obstacle
if n_obstacles >0:
for i in range(obstacle_position.shape[0]):
- obs1 = plt.Circle((obstacle_position[i,0], obstacle_position[i,1]), obstacle_position[i,2]*2, color='g', clip_on=False)
+ obs1 = plt.Circle((obstacle_position[i,0], obstacle_position[i,1]), 0.005, color='g', label = "Obstacle")#, clip_on=False)
axis_traj.add_patch(obs1)
@@ -273,7 +274,7 @@ for i in range(N_uavs):
# distance to cluster
for i in range(N_ugvs):
dist_vect1 =np.array([ugv_position_x[:,i],ugv_position_y[:,i]])
- dist_vect2 =np.array([cluster_x[:,i],cluster_y[:,i]])
+ dist_vect2 =np.array([ugv_cluster_x[:,i],ugv_cluster_y[:,i]])
label_name = "C"+str(i+1)+ "D"+str(i+1)
ddd_ = dist_vect1-dist_vect2;
ddd_ = ddd_.transpose()
@@ -317,17 +318,19 @@ if N_ugvs > 1:
# this is inteded for only two ugvs todo, change if necessary
dist_vect1 =np.array([ugv_position_x[:,0],ugv_position_y[:,0]])
dist_vect2 =np.array([ugv_position_x[:,1],ugv_position_y[:,1]])
+ # print(dist_vect1)
label_name = "DUGV1" +"-"+ "DUGV2"
ddd_ = dist_vect1-dist_vect2;
ddd_ = ddd_.transpose()
disdd = np.linalg.norm(ddd_,axis =1)
+ # print(disdd)
axis_dist_obs.plot(time, disdd, label = label_name)
axis_dist_obs.set_ylabel("Distance(m)",fontsize="small")
axis_dist_obs.set_xlabel("Time(s)",fontsize="small")
axis_dist_obs.legend(fontsize="xx-small")
-axis_dist_obs.set_ylim(0, 1.5)
+# axis_dist_obs.set_ylim(0, 1.5)
axis_dist_obs.set_xlim(0, time[-1])
# fig_dist.set_size_inches(w=4, h=3)
fig_dist_obs.set_size_inches(w=4, h=2.5)
@@ -424,8 +427,9 @@ fig_ori.set_size_inches(w=4, h=2.5)
plt.show()
# plt.style.use('seaborn')
## Expot file to pgf
-# #
-fig_traj.savefig("result_plots/exp4_formation_3_uav_trajectory.pgf",format='pgf')
-fig_dist.savefig("result_plots/exp4_formation_3_uav_distance.pgf",format='pgf')
-fig_nv.savefig("result_plots/exp4_formation_3_uav_navigation.pgf",format='pgf')
-fig_ori.savefig("result_plots/exp4_formation_3_uav_orientation.pgf",format='pgf')
+# # #
+# fig_traj.savefig("result_plots/exp8_formation_3_uav_trajectory.pgf",format='pgf')
+# fig_dist.savefig("result_plots/exp8_formation_3_uav_distance.pgf",format='pgf')
+# fig_nv.savefig("result_plots/exp8_formation_3_uav_navigation.pgf",format='pgf')
+# fig_ori.savefig("result_plots/exp8_formation_3_uav_orientation.pgf",format='pgf')
+# fig_dist_obs.savefig("result_plots/exp8_formation_3_uav_obstacle.pgf",format='pgf')
diff --git a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp4_formation_3_uav_distance.pgf b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp4_formation_3_uav_distance.pgf
index 3a29215ea62a6a54da51e46329fa8fddbf795d5e..49e1bd244c835df7646f6f26c1b4f4be232f9494 100644
--- a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp4_formation_3_uav_distance.pgf
+++ b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp4_formation_3_uav_distance.pgf
@@ -73,7 +73,7 @@
\end{pgfscope}%
\end{pgfscope}%
\begin{pgfscope}%
-\pgftext[x=0.547375in,y=0.390741in,,top]{\rmfamily\fontsize{5.790000}{6.948000}\selectfont \(\displaystyle 0\)}%
+\pgftext[x=0.547375in,y=0.390741in,,top]{\rmfamily\fontsize{5.790000}{6.948000}\selectfont \(\displaystyle 0.0\)}%
\end{pgfscope}%
\begin{pgfscope}%
\pgfsetbuttcap%
@@ -90,12 +90,12 @@
\pgfusepath{stroke,fill}%
}%
\begin{pgfscope}%
-\pgfsys@transformshift{1.245578in}{0.487963in}%
+\pgfsys@transformshift{1.027901in}{0.487963in}%
\pgfsys@useobject{currentmarker}{}%
\end{pgfscope}%
\end{pgfscope}%
\begin{pgfscope}%
-\pgftext[x=1.245578in,y=0.390741in,,top]{\rmfamily\fontsize{5.790000}{6.948000}\selectfont \(\displaystyle 5\)}%
+\pgftext[x=1.027901in,y=0.390741in,,top]{\rmfamily\fontsize{5.790000}{6.948000}\selectfont \(\displaystyle 0.5\)}%
\end{pgfscope}%
\begin{pgfscope}%
\pgfsetbuttcap%
@@ -112,12 +112,12 @@
\pgfusepath{stroke,fill}%
}%
\begin{pgfscope}%
-\pgfsys@transformshift{1.943782in}{0.487963in}%
+\pgfsys@transformshift{1.508427in}{0.487963in}%
\pgfsys@useobject{currentmarker}{}%
\end{pgfscope}%
\end{pgfscope}%
\begin{pgfscope}%
-\pgftext[x=1.943782in,y=0.390741in,,top]{\rmfamily\fontsize{5.790000}{6.948000}\selectfont \(\displaystyle 10\)}%
+\pgftext[x=1.508427in,y=0.390741in,,top]{\rmfamily\fontsize{5.790000}{6.948000}\selectfont \(\displaystyle 1.0\)}%
\end{pgfscope}%
\begin{pgfscope}%
\pgfsetbuttcap%
@@ -134,12 +134,12 @@
\pgfusepath{stroke,fill}%
}%
\begin{pgfscope}%
-\pgfsys@transformshift{2.641985in}{0.487963in}%
+\pgfsys@transformshift{1.988954in}{0.487963in}%
\pgfsys@useobject{currentmarker}{}%
\end{pgfscope}%
\end{pgfscope}%
\begin{pgfscope}%
-\pgftext[x=2.641985in,y=0.390741in,,top]{\rmfamily\fontsize{5.790000}{6.948000}\selectfont \(\displaystyle 15\)}%
+\pgftext[x=1.988954in,y=0.390741in,,top]{\rmfamily\fontsize{5.790000}{6.948000}\selectfont \(\displaystyle 1.5\)}%
\end{pgfscope}%
\begin{pgfscope}%
\pgfsetbuttcap%
@@ -156,12 +156,56 @@
\pgfusepath{stroke,fill}%
}%
\begin{pgfscope}%
-\pgfsys@transformshift{3.340188in}{0.487963in}%
+\pgfsys@transformshift{2.469480in}{0.487963in}%
\pgfsys@useobject{currentmarker}{}%
\end{pgfscope}%
\end{pgfscope}%
\begin{pgfscope}%
-\pgftext[x=3.340188in,y=0.390741in,,top]{\rmfamily\fontsize{5.790000}{6.948000}\selectfont \(\displaystyle 20\)}%
+\pgftext[x=2.469480in,y=0.390741in,,top]{\rmfamily\fontsize{5.790000}{6.948000}\selectfont \(\displaystyle 2.0\)}%
+\end{pgfscope}%
+\begin{pgfscope}%
+\pgfsetbuttcap%
+\pgfsetroundjoin%
+\definecolor{currentfill}{rgb}{0.000000,0.000000,0.000000}%
+\pgfsetfillcolor{currentfill}%
+\pgfsetlinewidth{0.803000pt}%
+\definecolor{currentstroke}{rgb}{0.000000,0.000000,0.000000}%
+\pgfsetstrokecolor{currentstroke}%
+\pgfsetdash{}{0pt}%
+\pgfsys@defobject{currentmarker}{\pgfqpoint{0.000000in}{-0.048611in}}{\pgfqpoint{0.000000in}{0.000000in}}{%
+\pgfpathmoveto{\pgfqpoint{0.000000in}{0.000000in}}%
+\pgfpathlineto{\pgfqpoint{0.000000in}{-0.048611in}}%
+\pgfusepath{stroke,fill}%
+}%
+\begin{pgfscope}%
+\pgfsys@transformshift{2.950006in}{0.487963in}%
+\pgfsys@useobject{currentmarker}{}%
+\end{pgfscope}%
+\end{pgfscope}%
+\begin{pgfscope}%
+\pgftext[x=2.950006in,y=0.390741in,,top]{\rmfamily\fontsize{5.790000}{6.948000}\selectfont \(\displaystyle 2.5\)}%
+\end{pgfscope}%
+\begin{pgfscope}%
+\pgfsetbuttcap%
+\pgfsetroundjoin%
+\definecolor{currentfill}{rgb}{0.000000,0.000000,0.000000}%
+\pgfsetfillcolor{currentfill}%
+\pgfsetlinewidth{0.803000pt}%
+\definecolor{currentstroke}{rgb}{0.000000,0.000000,0.000000}%
+\pgfsetstrokecolor{currentstroke}%
+\pgfsetdash{}{0pt}%
+\pgfsys@defobject{currentmarker}{\pgfqpoint{0.000000in}{-0.048611in}}{\pgfqpoint{0.000000in}{0.000000in}}{%
+\pgfpathmoveto{\pgfqpoint{0.000000in}{0.000000in}}%
+\pgfpathlineto{\pgfqpoint{0.000000in}{-0.048611in}}%
+\pgfusepath{stroke,fill}%
+}%
+\begin{pgfscope}%
+\pgfsys@transformshift{3.430532in}{0.487963in}%
+\pgfsys@useobject{currentmarker}{}%
+\end{pgfscope}%
+\end{pgfscope}%
+\begin{pgfscope}%
+\pgftext[x=3.430532in,y=0.390741in,,top]{\rmfamily\fontsize{5.790000}{6.948000}\selectfont \(\displaystyle 3.0\)}%
\end{pgfscope}%
\begin{pgfscope}%
\pgftext[x=2.181187in,y=0.261111in,,top]{\rmfamily\fontsize{8.330000}{9.996000}\selectfont Time(s)}%
@@ -355,7 +399,39 @@
\pgfsetstrokecolor{currentstroke}%
\pgfsetdash{}{0pt}%
\pgfpathmoveto{\pgfqpoint{0.547375in}{1.462383in}}%
-\pgfpathlineto{\pgfqpoint{3.815000in}{1.462383in}}%
+\pgfpathlineto{\pgfqpoint{0.643554in}{1.462383in}}%
+\pgfpathlineto{\pgfqpoint{0.739701in}{1.462383in}}%
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+\pgfpathlineto{\pgfqpoint{3.718848in}{1.462383in}}%
\pgfpathlineto{\pgfqpoint{3.815000in}{1.462383in}}%
\pgfusepath{stroke}%
\end{pgfscope}%
@@ -368,224 +444,41 @@
\definecolor{currentstroke}{rgb}{1.000000,0.498039,0.054902}%
\pgfsetstrokecolor{currentstroke}%
\pgfsetdash{}{0pt}%
-\pgfpathmoveto{\pgfqpoint{0.547375in}{1.550862in}}%
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diff --git a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp4_formation_3_uav_navigation.pgf b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp4_formation_3_uav_navigation.pgf
index 62d5d558368be9ae5d655868885d65fcc522a84a..a128968a799506c077d9dbe4029c53bb2f4986a6 100644
--- a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp4_formation_3_uav_navigation.pgf
+++ b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp4_formation_3_uav_navigation.pgf
@@ -46,10 +46,10 @@
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}%
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diff --git a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp4_formation_3_uav_orientation.pgf b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp4_formation_3_uav_orientation.pgf
index 85d39f241dac96f2bd61da1805124e821abad6ab..75377d88213fb7e3da9da4125a3b6ebb3152c753 100644
--- a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp4_formation_3_uav_orientation.pgf
+++ b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp4_formation_3_uav_orientation.pgf
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diff --git a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp4_formation_3_uav_trajectory.pgf b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp4_formation_3_uav_trajectory.pgf
index 26a97c055988c91d2e958df5a2edbade8bab5ba1..728311e4e7716b0585822f185963f1ea88effd71 100644
--- a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp4_formation_3_uav_trajectory.pgf
+++ b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp4_formation_3_uav_trajectory.pgf
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+\begin{pgfscope}%
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+\pgfpathclose%
+\pgfusepath{stroke,fill}%
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+\begin{pgfscope}%
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\pgfsetroundjoin%
\definecolor{currentfill}{rgb}{0.000000,0.000000,0.000000}%
\pgfsetfillcolor{currentfill}%
@@ -431,15 +1166,15 @@
\pgfusepath{stroke,fill}%
}%
\begin{pgfscope}%
-\pgfsys@transformshift{1.770921in}{1.832690in}%
+\pgfsys@transformshift{1.767265in}{1.686627in}%
\pgfsys@useobject{currentmarker}{}%
\end{pgfscope}%
\begin{pgfscope}%
-\pgfsys@transformshift{1.175052in}{1.286130in}%
+\pgfsys@transformshift{1.165913in}{1.174933in}%
\pgfsys@useobject{currentmarker}{}%
\end{pgfscope}%
\begin{pgfscope}%
-\pgfsys@transformshift{1.301172in}{2.361346in}%
+\pgfsys@transformshift{1.250907in}{2.224706in}%
\pgfsys@useobject{currentmarker}{}%
\end{pgfscope}%
\end{pgfscope}%
@@ -469,15 +1204,15 @@
\pgfusepath{stroke,fill}%
}%
\begin{pgfscope}%
-\pgfsys@transformshift{3.840925in}{1.831748in}%
+\pgfsys@transformshift{1.766352in}{1.683800in}%
\pgfsys@useobject{currentmarker}{}%
\end{pgfscope}%
\begin{pgfscope}%
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+\pgfsys@transformshift{1.162258in}{1.181529in}%
\pgfsys@useobject{currentmarker}{}%
\end{pgfscope}%
\begin{pgfscope}%
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+\pgfsys@transformshift{1.252735in}{2.224706in}%
\pgfsys@useobject{currentmarker}{}%
\end{pgfscope}%
\end{pgfscope}%
@@ -490,10 +1225,10 @@
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-\pgfpathlineto{\pgfqpoint{3.840925in}{1.831748in}}%
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\pgfusepath{stroke}%
\end{pgfscope}%
\begin{pgfscope}%
@@ -505,144 +1240,41 @@
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diff --git a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp5_formation_3_uav_distance.pgf b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp5_formation_3_uav_distance.pgf
new file mode 100644
index 0000000000000000000000000000000000000000..c79e414a8c1c31ce75ef2fa66af35b88250c77c2
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp5_formation_3_uav_distance.pgf
@@ -0,0 +1,1563 @@
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+%%
+%% To include the figure in your LaTeX document, write
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+%%
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+%% \usepackage{pgf}
+%%
+%% Figures using additional raster images can only be included by \input if
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+%% from other directories you can use the `import` package
+%% \usepackage{import}
+%% and then include the figures with
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diff --git a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp5_formation_3_uav_navigation.pgf b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp5_formation_3_uav_navigation.pgf
new file mode 100644
index 0000000000000000000000000000000000000000..2008f6303d3ddaa99fbfc21196e981b11466f311
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp5_formation_3_uav_navigation.pgf
@@ -0,0 +1,1982 @@
+%% Creator: Matplotlib, PGF backend
+%%
+%% To include the figure in your LaTeX document, write
+%% \input{<filename>.pgf}
+%%
+%% Make sure the required packages are loaded in your preamble
+%% \usepackage{pgf}
+%%
+%% Figures using additional raster images can only be included by \input if
+%% they are in the same directory as the main LaTeX file. For loading figures
+%% from other directories you can use the `import` package
+%% \usepackage{import}
+%% and then include the figures with
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diff --git a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp5_formation_3_uav_obstacle.pgf b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp5_formation_3_uav_obstacle.pgf
new file mode 100644
index 0000000000000000000000000000000000000000..16ab49010ccb9fb89f7835b68f697a0477162528
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp5_formation_3_uav_obstacle.pgf
@@ -0,0 +1,1410 @@
+%% Creator: Matplotlib, PGF backend
+%%
+%% To include the figure in your LaTeX document, write
+%% \input{<filename>.pgf}
+%%
+%% Make sure the required packages are loaded in your preamble
+%% \usepackage{pgf}
+%%
+%% Figures using additional raster images can only be included by \input if
+%% they are in the same directory as the main LaTeX file. For loading figures
+%% from other directories you can use the `import` package
+%% \usepackage{import}
+%% and then include the figures with
+%% \import{<path to file>}{<filename>.pgf}
+%%
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diff --git a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp5_formation_3_uav_orientation.pgf b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp5_formation_3_uav_orientation.pgf
new file mode 100644
index 0000000000000000000000000000000000000000..c0af03c0a162557ac888f13ae4aeb039a2d01e55
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp5_formation_3_uav_orientation.pgf
@@ -0,0 +1,829 @@
+%% Creator: Matplotlib, PGF backend
+%%
+%% To include the figure in your LaTeX document, write
+%% \input{<filename>.pgf}
+%%
+%% Make sure the required packages are loaded in your preamble
+%% \usepackage{pgf}
+%%
+%% Figures using additional raster images can only be included by \input if
+%% they are in the same directory as the main LaTeX file. For loading figures
+%% from other directories you can use the `import` package
+%% \usepackage{import}
+%% and then include the figures with
+%% \import{<path to file>}{<filename>.pgf}
+%%
+%% Matplotlib used the following preamble
+%%
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diff --git a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp5_formation_3_uav_trajectory.pgf b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp5_formation_3_uav_trajectory.pgf
new file mode 100644
index 0000000000000000000000000000000000000000..403b106d8040e10416d1bc6bf4cd31ea64c9a6b2
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp5_formation_3_uav_trajectory.pgf
@@ -0,0 +1,9186 @@
+%% Creator: Matplotlib, PGF backend
+%%
+%% To include the figure in your LaTeX document, write
+%% \input{<filename>.pgf}
+%%
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+%% \usepackage{pgf}
+%%
+%% Figures using additional raster images can only be included by \input if
+%% they are in the same directory as the main LaTeX file. For loading figures
+%% from other directories you can use the `import` package
+%% \usepackage{import}
+%% and then include the figures with
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diff --git a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp6_formation_3_uav_distance.pgf b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp6_formation_3_uav_distance.pgf
new file mode 100644
index 0000000000000000000000000000000000000000..01ad257d99843e53e28b90a8546d9f25195a4cc9
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp6_formation_3_uav_distance.pgf
@@ -0,0 +1,1478 @@
+%% Creator: Matplotlib, PGF backend
+%%
+%% To include the figure in your LaTeX document, write
+%% \input{<filename>.pgf}
+%%
+%% Make sure the required packages are loaded in your preamble
+%% \usepackage{pgf}
+%%
+%% Figures using additional raster images can only be included by \input if
+%% they are in the same directory as the main LaTeX file. For loading figures
+%% from other directories you can use the `import` package
+%% \usepackage{import}
+%% and then include the figures with
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+%%
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diff --git a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp6_formation_3_uav_navigation.pgf b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp6_formation_3_uav_navigation.pgf
new file mode 100644
index 0000000000000000000000000000000000000000..2dff93423e31c0e7fc7fe374d37796bb44d4aae8
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp6_formation_3_uav_navigation.pgf
@@ -0,0 +1,1665 @@
+%% Creator: Matplotlib, PGF backend
+%%
+%% To include the figure in your LaTeX document, write
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+%%
+%% Make sure the required packages are loaded in your preamble
+%% \usepackage{pgf}
+%%
+%% Figures using additional raster images can only be included by \input if
+%% they are in the same directory as the main LaTeX file. For loading figures
+%% from other directories you can use the `import` package
+%% \usepackage{import}
+%% and then include the figures with
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diff --git a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp6_formation_3_uav_obstacle.pgf b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp6_formation_3_uav_obstacle.pgf
new file mode 100644
index 0000000000000000000000000000000000000000..f4ce467852c86ba42667e470a3bd94bf32f7bc5a
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp6_formation_3_uav_obstacle.pgf
@@ -0,0 +1,398 @@
+%% Creator: Matplotlib, PGF backend
+%%
+%% To include the figure in your LaTeX document, write
+%% \input{<filename>.pgf}
+%%
+%% Make sure the required packages are loaded in your preamble
+%% \usepackage{pgf}
+%%
+%% Figures using additional raster images can only be included by \input if
+%% they are in the same directory as the main LaTeX file. For loading figures
+%% from other directories you can use the `import` package
+%% \usepackage{import}
+%% and then include the figures with
+%% \import{<path to file>}{<filename>.pgf}
+%%
+%% Matplotlib used the following preamble
+%%
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diff --git a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp6_formation_3_uav_orientation.pgf b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp6_formation_3_uav_orientation.pgf
new file mode 100644
index 0000000000000000000000000000000000000000..9a3090bcbe4ae91cb46393abb8654cb554a3dab3
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp6_formation_3_uav_orientation.pgf
@@ -0,0 +1,671 @@
+%% Creator: Matplotlib, PGF backend
+%%
+%% To include the figure in your LaTeX document, write
+%% \input{<filename>.pgf}
+%%
+%% Make sure the required packages are loaded in your preamble
+%% \usepackage{pgf}
+%%
+%% Figures using additional raster images can only be included by \input if
+%% they are in the same directory as the main LaTeX file. For loading figures
+%% from other directories you can use the `import` package
+%% \usepackage{import}
+%% and then include the figures with
+%% \import{<path to file>}{<filename>.pgf}
+%%
+%% Matplotlib used the following preamble
+%%
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diff --git a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp6_formation_3_uav_trajectory.pgf b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp6_formation_3_uav_trajectory.pgf
new file mode 100644
index 0000000000000000000000000000000000000000..39367806afec39ca070fdbd53c56c9ad8f319520
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp6_formation_3_uav_trajectory.pgf
@@ -0,0 +1,1435 @@
+%% Creator: Matplotlib, PGF backend
+%%
+%% To include the figure in your LaTeX document, write
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+%%
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+%% \usepackage{pgf}
+%%
+%% Figures using additional raster images can only be included by \input if
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diff --git a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp7_formation_3_uav_distance.pgf b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp7_formation_3_uav_distance.pgf
new file mode 100644
index 0000000000000000000000000000000000000000..01ad257d99843e53e28b90a8546d9f25195a4cc9
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp7_formation_3_uav_distance.pgf
@@ -0,0 +1,1478 @@
+%% Creator: Matplotlib, PGF backend
+%%
+%% To include the figure in your LaTeX document, write
+%% \input{<filename>.pgf}
+%%
+%% Make sure the required packages are loaded in your preamble
+%% \usepackage{pgf}
+%%
+%% Figures using additional raster images can only be included by \input if
+%% they are in the same directory as the main LaTeX file. For loading figures
+%% from other directories you can use the `import` package
+%% \usepackage{import}
+%% and then include the figures with
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+%%
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diff --git a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp7_formation_3_uav_navigation.pgf b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp7_formation_3_uav_navigation.pgf
new file mode 100644
index 0000000000000000000000000000000000000000..2dff93423e31c0e7fc7fe374d37796bb44d4aae8
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp7_formation_3_uav_navigation.pgf
@@ -0,0 +1,1665 @@
+%% Creator: Matplotlib, PGF backend
+%%
+%% To include the figure in your LaTeX document, write
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+%%
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+%% \usepackage{pgf}
+%%
+%% Figures using additional raster images can only be included by \input if
+%% they are in the same directory as the main LaTeX file. For loading figures
+%% from other directories you can use the `import` package
+%% \usepackage{import}
+%% and then include the figures with
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diff --git a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp7_formation_3_uav_obstacle.pgf b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp7_formation_3_uav_obstacle.pgf
new file mode 100644
index 0000000000000000000000000000000000000000..f4ce467852c86ba42667e470a3bd94bf32f7bc5a
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp7_formation_3_uav_obstacle.pgf
@@ -0,0 +1,398 @@
+%% Creator: Matplotlib, PGF backend
+%%
+%% To include the figure in your LaTeX document, write
+%% \input{<filename>.pgf}
+%%
+%% Make sure the required packages are loaded in your preamble
+%% \usepackage{pgf}
+%%
+%% Figures using additional raster images can only be included by \input if
+%% they are in the same directory as the main LaTeX file. For loading figures
+%% from other directories you can use the `import` package
+%% \usepackage{import}
+%% and then include the figures with
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+%%
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diff --git a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp7_formation_3_uav_orientation.pgf b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp7_formation_3_uav_orientation.pgf
new file mode 100644
index 0000000000000000000000000000000000000000..9a3090bcbe4ae91cb46393abb8654cb554a3dab3
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp7_formation_3_uav_orientation.pgf
@@ -0,0 +1,671 @@
+%% Creator: Matplotlib, PGF backend
+%%
+%% To include the figure in your LaTeX document, write
+%% \input{<filename>.pgf}
+%%
+%% Make sure the required packages are loaded in your preamble
+%% \usepackage{pgf}
+%%
+%% Figures using additional raster images can only be included by \input if
+%% they are in the same directory as the main LaTeX file. For loading figures
+%% from other directories you can use the `import` package
+%% \usepackage{import}
+%% and then include the figures with
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+%%
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diff --git a/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp7_formation_3_uav_trajectory.pgf b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp7_formation_3_uav_trajectory.pgf
new file mode 100644
index 0000000000000000000000000000000000000000..39367806afec39ca070fdbd53c56c9ad8f319520
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/scripts/result_plots/exp7_formation_3_uav_trajectory.pgf
@@ -0,0 +1,1435 @@
+%% Creator: Matplotlib, PGF backend
+%%
+%% To include the figure in your LaTeX document, write
+%% \input{<filename>.pgf}
+%%
+%% Make sure the required packages are loaded in your preamble
+%% \usepackage{pgf}
+%%
+%% Figures using additional raster images can only be included by \input if
+%% they are in the same directory as the main LaTeX file. For loading figures
+%% from other directories you can use the `import` package
+%% \usepackage{import}
+%% and then include the figures with
+%% \import{<path to file>}{<filename>.pgf}
+%%
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diff --git a/real_robot/coordination_formation_control_pkg/src/drone_node.cpp b/real_robot/coordination_formation_control_pkg/src/drone_node.cpp
index b6dff9ea4cc15031c8799b7824073b037b3d3457..89b1afbf7967840a07f9668428c61a58f5b4a4d6 100644
--- a/real_robot/coordination_formation_control_pkg/src/drone_node.cpp
+++ b/real_robot/coordination_formation_control_pkg/src/drone_node.cpp
@@ -86,6 +86,8 @@ int main(int argc, char **argv) {
next_waypoint->vel[1] = 0;
next_waypoint->orientation = 0.0;
next_waypoint->obstacle.resize(n_obs*3);
+ next_waypoint->cluster_pos.resize(n_ugvs*2);
+
logdata = new coordination_formation_control_pkg::logData();
@@ -287,7 +289,7 @@ int main(int argc, char **argv) {
current_command.vy = 0;
current_command.yawrate = 0;
current_command.zDistance = 0.5;
- vel_cmd_publisher.publish(current_command);
+ // vel_cmd_publisher.publish(current_command);
}
@@ -458,12 +460,12 @@ int main(int argc, char **argv) {
/* log the ugv state too, not an efficient approach*/
for (int i = 0; i<n_ugvs; i++)
{
- robot_state_t current_state;
- current_state = ugvs[i-1]->get_state();
- logdata->ugv_current_pose[i].position.x = current_state.q(0);
- logdata->ugv_current_pose[i].position.y = current_state.q(1);
+ robot_state_t current_ugv_state;
+ current_ugv_state = ugvs[i]->get_state();
+ logdata->ugv_current_pose[i].position.x = current_ugv_state.q(0);
+ logdata->ugv_current_pose[i].position.y = current_ugv_state.q(1);
logdata->ugv_cluster[i].position.x = next_waypoint->cluster_pos[i*2];
- logdata->ugv_cluster[i].position.x = next_waypoint->cluster_pos[i*2+1];;
+ // logdata->ugv_cluster[i].position.x = next_waypoint->cluster_pos[i*2+1];
}
logdata->command_pose.x = current_waypoint.q(0);
logdata->command_pose.y = current_waypoint.q(1);
diff --git a/real_robot/coordination_formation_control_pkg/src/mission_controller.cpp b/real_robot/coordination_formation_control_pkg/src/mission_controller.cpp
index 68874b318a5c0f2c53d1d9037cbb76e8f276f2d8..3b0c4a7dc26ac683c9086cf0f1d7d6b9235ff51c 100644
--- a/real_robot/coordination_formation_control_pkg/src/mission_controller.cpp
+++ b/real_robot/coordination_formation_control_pkg/src/mission_controller.cpp
@@ -173,7 +173,7 @@ for (int i = 0; i ++; i < n_ugvs)
{
this->current_waypoint.obstacle[i*3] = this->obstacle_pose(0,i);
this->current_waypoint.obstacle[i*3+1] = this->obstacle_pose(1,i);
- this->current_waypoint.obstacle[i*3+2] = 0.05;
+ this->current_waypoint.obstacle[i*3+2] = 0.25; // radius
// std::cout << t§his->current_waypoint.obstacle[i*3] << " " << this->current_waypoint.obstacle[i*3+1] << std::endl;
}
}
diff --git a/real_robot/coordination_formation_control_pkg/src/omniwheel_node.cpp b/real_robot/coordination_formation_control_pkg/src/omniwheel_node.cpp
index d9179d85b81a89e58fb6e839b1e0cff1c42d2fc2..ed28944cb64c6b0596b179e9f0f253bebc781fb5 100644
--- a/real_robot/coordination_formation_control_pkg/src/omniwheel_node.cpp
+++ b/real_robot/coordination_formation_control_pkg/src/omniwheel_node.cpp
@@ -315,7 +315,7 @@ int main(int argc, char **argv) {
}
- vel_cmd_publisher.publish(current_command);
+ // vel_cmd_publisher.publish(current_command);
}
if(coord_config->stop_demo)