experiment 1 succesfull

real_robot/coordination_formation_control_pkg/CMakeLists.txt

@@ -79,3 +79,7 @@ install(DIRECTORY
 launch
 DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
+
+catkin_install_python(PROGRAMS scripts/model_ugv_data.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)

real_robot/coordination_formation_control_pkg/config/crazyfliesConfig.yaml

@@ -7,10 +7,10 @@ crazyflies:
   channel: 90
   initialPosition: [0.0, 0.0, 0.0]
   type: default
-# - id: 3
-#   channel: 80
-#   initialPosition: [0.0, 0.0, 0.0]
-#   type: default
+- id: 3
+  channel: 80
+  initialPosition: [0.0, 0.0, 0.0]
+  type: default
 # - id: 4
 #   channel: 80
 #   initialPosition: [0.0, 0.0, 0.0]

real_robot/coordination_formation_control_pkg/config/formationConfig.yaml

@@ -18,7 +18,7 @@ uav_c1_delta: 0.05
 # uav_c1_delta: 0.01
 
 uav_d: 0.8
-uav_formation_t:  2 #/* type must be minimum 2, 3: tuangle formation, 4 suare, 5 pentagon*/
+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
@@ -30,7 +30,7 @@ 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:  0.01 #/* maximum integral*/
+uav_int_max:  0.1 #/* maximum integral*/
 
 # ugv
 

real_robot/coordination_formation_control_pkg/config/missionConfig.yaml

-n_drones: 2
+n_drones: 3
 n_ugvs: 0
 hz_freq: 50 # controller frquency
 include_obstacle: false
 include_orientation: false
 n_obs: 0
-log_name: "/home/spot/steven_master_ws/src/coordination_formation_control_pkg/results/experiment_14_working_with_integral/test"
+log_name: "/home/spot/steven_master_ws/src/coordination_formation_control_pkg/results/experiment_2_free_space_maintain_3_uav/result"
 enable_log: true
 
 # waypoint

real_robot/coordination_formation_control_pkg/launch/mission_controller.launch

@@ -17,10 +17,10 @@
         <node name="drone_node" pkg="coordination_formation_control_pkg" type="drone_node" output="screen" args="2" launch-prefix="xterm -e">
         </node>
     </group>
-    <!-- <group ns="uav_3">
+    <group ns="uav_3">
          <node name="drone_node" pkg="coordination_formation_control_pkg" type="drone_node" output="screen" args="3" launch-prefix="xterm -e">
          </node>
-     </group> -->
+     </group>
 
 
      <!-- <group ns="uav_4">