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Commit 7c33e93f authored by Stevedan Ogochukwu Omodolor's avatar Stevedan Ogochukwu Omodolor
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test 1 env prepared but not tested

parent 932cd943
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with 66 additions and 4 deletions
n_drones: 1 n_drones: 3
n_ugvs: 0 n_ugvs: 0
hz_freq: 50 # controller frquency hz_freq: 50 # controller frquency
include_obstacle: false include_obstacle: false
include_orientation: false include_orientation: false
n_obs: 0 n_obs: 0
log_name: "/home/spot/steven_master_ws/src/coordination_formation_control_pkg/results/experiment_1_trianglular_formation" log_name: "/home/spot/steven_master_ws/src/coordination_formation_control_pkg/results/experiment_1/experiment_1_trianglular_no_formation"
enable_log: true enable_log: true
# waypoint # waypoint
......
...@@ -14,7 +14,7 @@ ...@@ -14,7 +14,7 @@
</group> </group>
<group ns="uav_2"> <group ns="uav_2">
<node name="drone_node" pkg="coordination_formation_control_pkg" type="drone_node" output="screen" args="2" launch-prefix="xterm -e gdb --args "> <node name="drone_node" pkg="coordination_formation_control_pkg" type="drone_node" output="screen" args="2" launch-prefix="xterm -e">
</node> </node>
</group> </group>
<group ns="uav_3"> <group ns="uav_3">
......
crazyflies:
- id: 1
channel: 90
initialPosition: [0.0, 0.0, 0.0]
type: default
- id: 2
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: 4
# channel: 80
# initialPosition: [0.0, 0.0, 0.0]
# type: default
# Uav
uav_c1_alpha: 0.2
uav_c2_alpha: 1 # this is recomputed
uav_c1_beta: 0.3
uav_c2_beta: 1 # this is recomputed
uav_c1_gamma: 0.25
uav_c2_gamma: 0.2
uav_c1_theta: 0.2
uav_c1_delta: 0.09
uav_d: 0.6
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*/
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_1/experiment_1_trianglular_no_formation"
enable_log: true
# waypoint
# x: 0
# y: 0
# orienation: 0
# vx: 0
# vy: 0
Test conditions
No orienation
No obstacle
Only 3 drones
mantain position at [0,0]
...@@ -270,7 +270,7 @@ int main(int argc, char **argv) { ...@@ -270,7 +270,7 @@ int main(int argc, char **argv) {
/* integrate acceleration*/ /* integrate acceleration*/
Eigen::Vector2d vel_command = acc_int.integrate(input(0,0), input(1,0)); Eigen::Vector2d vel_command = acc_int.integrate(input(0,0), input(1,0));
/* reached a certain waypoint and we want to stop sending command*/ /* reached a certain waypoint and we want to stop sending command*/
if(next_waypoint->stop) if(true)//next_waypoint->stop) change back TODO
{ {
current_command.vx = 0; current_command.vx = 0;
current_command.vy = 0; current_command.vy = 0;
......
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