diff --git a/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml b/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml index 04aecd3c6e9657b7656a101ff9c3f6d745632f4e..95d79a1272096317bbff1e5de94b523e63e8e6ad 100644 --- a/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml +++ b/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml @@ -3,7 +3,7 @@ uav_c1_alpha: 0.20 uav_c2_alpha: 0.3 # this is recomputed uav_c1_beta: 0.3 uav_c2_beta: 0.1 # this is recomputed -uav_c1_gamma: 0.25 +uav_c1_gamma: 0.2 uav_c2_gamma: 0.2 uav_c1_theta: 0.1 uav_c1_delta: 0.07 @@ -45,7 +45,7 @@ ugv_c1_theta: 0.2 ugv_c1_delta: 0.07 -ugv_d: 0.8 +ugv_d: 0.4 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 7e2f797b9124333356696dbbbc2e3a61396d026b..1cf3ceb1d87af450f8d67b133aa40e8d67cb7569 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: 1 +n_ugvs: 2 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_23_coord_form_3_uav_1_ugv/result" +log_name: "/home/spot/steven_master_ws/src/coordination_formation_control_pkg/results/experiment_26_coord_form_3_uav_2_ugv/result" enable_log: true # waypoint diff --git a/real_robot/coordination_formation_control_pkg/launch/bringup_crazyflie_servers.launch b/real_robot/coordination_formation_control_pkg/launch/bringup_crazyflie_servers.launch index c943c0657cc2c3d232a0a874cf7db82b130f5ae6..279a0cb28bc17f0d2be76804b7179efa6baf8de2 100644 --- a/real_robot/coordination_formation_control_pkg/launch/bringup_crazyflie_servers.launch +++ b/real_robot/coordination_formation_control_pkg/launch/bringup_crazyflie_servers.launch @@ -10,7 +10,7 @@ <rosparam> # Logging configuration (Use enable_logging to actually enable logging) genericLogTopics: ["position", "velocity","acceleration"] - genericLogTopicFrequencies: [30,30,30] + genericLogTopicFrequencies: [50,50,50] genericLogTopic_position_Variables: ["stateEstimateZ.x", "stateEstimateZ.y","stateEstimateZ.z", "stateEstimate.yaw"] genericLogTopic_velocity_Variables: ["stateEstimateZ.vx", "stateEstimateZ.vy","stateEstimateZ.vz"] genericLogTopic_acceleration_Variables: ["stateEstimateZ.ax", "stateEstimateZ.ay","stateEstimateZ.az"] diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_1_logdata.bag index 7738081e3f4eb2e7f25867727b47fc760f02542f..fed17b30bf56b59b4c253caa953d3b6364e28bb2 100644 Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_1_logdata.bag and b/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_1_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_2_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_2_logdata.bag index e3f4ed4fdc86b24940891a381d44846f6c114268..3ecd78e25343605807b50dc930228c2972217d19 100644 Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_2_logdata.bag and b/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_2_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_3_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_3_logdata.bag index c3311674b81c6329b2128ca639eb63dfc471cbf2..858e1ffa7e9acb502d1201e1be6ef5392d352f0a 100644 Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_3_logdata.bag and b/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_3_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_omniwheel_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_omniwheel_1_logdata.bag index 2179b4d559540d54f0c9f45ec7cc3d441df79843..dc0126a9e012d218c56225ea2853889293a417b5 100644 Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_omniwheel_1_logdata.bag and b/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_omniwheel_1_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/notes.MD b/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/notes.MD new file mode 100644 index 0000000000000000000000000000000000000000..0dc9e116ca604ab71b74b80a7722228c24d8d4e5 --- /dev/null +++ b/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/notes.MD @@ -0,0 +1,84 @@ +# Goal +- Maintain the current centroid +- X: 1.6 +- Y: 0 +- Vx: 0.001 +- Vy: 0 +- Orientation 0 + +Experiment premises +Flockinr g and cooridnation with 1 ugv + +#comments + +Worked like a charm also + +# Mission configuration +n_drones: 3 +n_ugvs: 0 +hz_freq: 50 # controller frequency +include_obstacle: false +include_orientation: true +n_obs: 0 +## Formation configuration +# Uav +uav_c1_alpha: 0.20 +uav_c2_alpha: 0.3 # this is recomputed +uav_c1_beta: 0.3 +uav_c2_beta: 0.1 # this is recomputed +uav_c1_gamma: 0.25 +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: 0.2 +ugv_c2_alpha: 1 # this is recomputed +ugv_c1_beta: 0.3 +ugv_c2_beta: 1 # this is recomputed +ugv_c1_gamma: 0.25 +ugv_c2_gamma: 0.2 +ugv_c1_theta: 0.2 +ugv_c1_delta: 0.07 + + +ugv_d: 0.8 +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_24_coord_form_3_uav_1_ugv/result_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/result_crazyflie_1_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..281421d523f2d38e3336929c4d0c5aed04fd27ed Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/result_crazyflie_1_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/result_crazyflie_2_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/result_crazyflie_2_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..8ba07be3a7969d814dd244fbcc32588d6a17da96 Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/result_crazyflie_2_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/result_crazyflie_3_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/result_crazyflie_3_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..99a9fd9f6f2ec097bb9bdd91233aa1549334dc88 Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/result_crazyflie_3_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/result_omniwheel_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/result_omniwheel_1_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..c79eb793aa8ab7415db43f9ef9ebfee5eb64d4b8 Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/result_omniwheel_1_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_25_coord_form_3_uav_1_ugv/notes.MD b/real_robot/coordination_formation_control_pkg/results/experiment_25_coord_form_3_uav_1_ugv/notes.MD new file mode 100644 index 0000000000000000000000000000000000000000..3a67d52c8127ed6f1b1dc726ed72331f2ee10ade --- /dev/null +++ b/real_robot/coordination_formation_control_pkg/results/experiment_25_coord_form_3_uav_1_ugv/notes.MD @@ -0,0 +1,84 @@ +# Goal +- Maintain the current centroid +- X: 1.7 +- Y: 0 +- Vx: 0.001 +- Vy: 0 +- Orientation 0 + +Experiment premises +Flockinr g and cooridnation with 1 ugv We reduced the distance alot to see the following in action + +#comments + +Worked like a charm also + +# Mission configuration +n_drones: 3 +n_ugvs: 0 +hz_freq: 50 # controller frequency +include_obstacle: false +include_orientation: true +n_obs: 0 +## Formation configuration +# Uav +uav_c1_alpha: 0.20 +uav_c2_alpha: 0.3 # this is recomputed +uav_c1_beta: 0.3 +uav_c2_beta: 0.1 # this is recomputed +uav_c1_gamma: 0.25 +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: 0.2 +ugv_c2_alpha: 1 # this is recomputed +ugv_c1_beta: 0.3 +ugv_c2_beta: 1 # this is recomputed +ugv_c1_gamma: 0.25 +ugv_c2_gamma: 0.2 +ugv_c1_theta: 0.2 +ugv_c1_delta: 0.07 + + +ugv_d: 0.4 +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_25_coord_form_3_uav_1_ugv/result_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_25_coord_form_3_uav_1_ugv/result_crazyflie_1_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..1483f542ed44c37d44f92dcdea4c76ce03913972 Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_25_coord_form_3_uav_1_ugv/result_crazyflie_1_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_25_coord_form_3_uav_1_ugv/result_crazyflie_2_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_25_coord_form_3_uav_1_ugv/result_crazyflie_2_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..b258068981ddc7bc5deda14687b15d30fd23f97b Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_25_coord_form_3_uav_1_ugv/result_crazyflie_2_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_25_coord_form_3_uav_1_ugv/result_crazyflie_3_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_25_coord_form_3_uav_1_ugv/result_crazyflie_3_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..c9e4fb68c67a65ff24dad9c4ddf654624948f389 Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_25_coord_form_3_uav_1_ugv/result_crazyflie_3_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_25_coord_form_3_uav_1_ugv/result_omniwheel_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_25_coord_form_3_uav_1_ugv/result_omniwheel_1_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..d92514adf33bc7411e86f789cc1b4db71317a1ef Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_25_coord_form_3_uav_1_ugv/result_omniwheel_1_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_26_coord_form_3_uav_2_ugv/notes.MD b/real_robot/coordination_formation_control_pkg/results/experiment_26_coord_form_3_uav_2_ugv/notes.MD new file mode 100644 index 0000000000000000000000000000000000000000..3a67d52c8127ed6f1b1dc726ed72331f2ee10ade --- /dev/null +++ b/real_robot/coordination_formation_control_pkg/results/experiment_26_coord_form_3_uav_2_ugv/notes.MD @@ -0,0 +1,84 @@ +# Goal +- Maintain the current centroid +- X: 1.7 +- Y: 0 +- Vx: 0.001 +- Vy: 0 +- Orientation 0 + +Experiment premises +Flockinr g and cooridnation with 1 ugv We reduced the distance alot to see the following in action + +#comments + +Worked like a charm also + +# Mission configuration +n_drones: 3 +n_ugvs: 0 +hz_freq: 50 # controller frequency +include_obstacle: false +include_orientation: true +n_obs: 0 +## Formation configuration +# Uav +uav_c1_alpha: 0.20 +uav_c2_alpha: 0.3 # this is recomputed +uav_c1_beta: 0.3 +uav_c2_beta: 0.1 # this is recomputed +uav_c1_gamma: 0.25 +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: 0.2 +ugv_c2_alpha: 1 # this is recomputed +ugv_c1_beta: 0.3 +ugv_c2_beta: 1 # this is recomputed +ugv_c1_gamma: 0.25 +ugv_c2_gamma: 0.2 +ugv_c1_theta: 0.2 +ugv_c1_delta: 0.07 + + +ugv_d: 0.4 +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_26_coord_form_3_uav_2_ugv/result_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_26_coord_form_3_uav_2_ugv/result_crazyflie_1_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..1483f542ed44c37d44f92dcdea4c76ce03913972 Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_26_coord_form_3_uav_2_ugv/result_crazyflie_1_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_26_coord_form_3_uav_2_ugv/result_crazyflie_2_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_26_coord_form_3_uav_2_ugv/result_crazyflie_2_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..b258068981ddc7bc5deda14687b15d30fd23f97b Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_26_coord_form_3_uav_2_ugv/result_crazyflie_2_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_26_coord_form_3_uav_2_ugv/result_crazyflie_3_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_26_coord_form_3_uav_2_ugv/result_crazyflie_3_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..c9e4fb68c67a65ff24dad9c4ddf654624948f389 Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_26_coord_form_3_uav_2_ugv/result_crazyflie_3_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_26_coord_form_3_uav_2_ugv/result_omniwheel_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_26_coord_form_3_uav_2_ugv/result_omniwheel_1_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..d92514adf33bc7411e86f789cc1b4db71317a1ef Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_26_coord_form_3_uav_2_ugv/result_omniwheel_1_logdata.bag differ