diff --git a/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml b/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml index a133ede57ce54bfda8c2b671101a625c32f50398..89b9b4c1b84a1b644bda8c89a4bae8df6b4681d2 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: 1 +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_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 # 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 407ec50e38f0dc5b0a9c8cb0ec696c2d4e069e50..8e386d9d1ed06b4ddc230b25cf17119e9c68ebf5 100644 --- a/real_robot/coordination_formation_control_pkg/launch/mission_controller.launch +++ b/real_robot/coordination_formation_control_pkg/launch/mission_controller.launch @@ -14,7 +14,7 @@ </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 gdb --args "> + <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"> diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_1/config_files/crazyfliesConfig.yaml b/real_robot/coordination_formation_control_pkg/results/experiment_1/config_files/crazyfliesConfig.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8d7912f8688fa833d2f7f81712501c026589cbef --- /dev/null +++ b/real_robot/coordination_formation_control_pkg/results/experiment_1/config_files/crazyfliesConfig.yaml @@ -0,0 +1,17 @@ +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 diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_1/config_files/formationConfig.yaml b/real_robot/coordination_formation_control_pkg/results/experiment_1/config_files/formationConfig.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3284e1cdf2db9d94fcf05c8a3b0197734f5b031f --- /dev/null +++ b/real_robot/coordination_formation_control_pkg/results/experiment_1/config_files/formationConfig.yaml @@ -0,0 +1,25 @@ +# 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*/ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_1/config_files/missionConfig.yaml b/real_robot/coordination_formation_control_pkg/results/experiment_1/config_files/missionConfig.yaml new file mode 100644 index 0000000000000000000000000000000000000000..89b9b4c1b84a1b644bda8c89a4bae8df6b4681d2 --- /dev/null +++ b/real_robot/coordination_formation_control_pkg/results/experiment_1/config_files/missionConfig.yaml @@ -0,0 +1,15 @@ +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 diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_1/notes.txt b/real_robot/coordination_formation_control_pkg/results/experiment_1/notes.txt new file mode 100644 index 0000000000000000000000000000000000000000..95cc05d2f7861362760c78774eb95c2d7f682e82 --- /dev/null +++ b/real_robot/coordination_formation_control_pkg/results/experiment_1/notes.txt @@ -0,0 +1,5 @@ +Test conditions +No orienation +No obstacle +Only 3 drones +mantain position at [0,0] diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_1_logdata.bag deleted file mode 100644 index f935def08549ce95538cf126e91bc06c8d7f9762..0000000000000000000000000000000000000000 Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_1_logdata.bag and /dev/null differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_2_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_2_logdata.bag deleted file mode 100644 index fc48456c5dd95b6e6d33aa537bfcd8512e5f95a0..0000000000000000000000000000000000000000 Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_2_logdata.bag and /dev/null differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_3_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_3_logdata.bag deleted file mode 100644 index ed66c636d7a639a4a7955ec42ea130c1833f3a4f..0000000000000000000000000000000000000000 Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_3_logdata.bag and /dev/null differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_2_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_2_crazyflie_1_logdata.bag deleted file mode 100644 index 8c354463c59f8bc0190ad41612ebfdb5dadf7fe4..0000000000000000000000000000000000000000 Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_2_crazyflie_1_logdata.bag and /dev/null differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_2_crazyflie_2_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_2_crazyflie_2_logdata.bag deleted file mode 100644 index c83b1e956f2bb5637e1989465b81b890494cd2ea..0000000000000000000000000000000000000000 Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_2_crazyflie_2_logdata.bag and /dev/null differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_2_omniwheel_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_2_omniwheel_1_logdata.bag deleted file mode 100644 index a53ebd249255e29a881286263ea61701016ae8aa..0000000000000000000000000000000000000000 Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_2_omniwheel_1_logdata.bag and /dev/null differ 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 80d41a618ad635bac4054adf707b8c5c6861316c..cbc4069246dea56c80852aaed92fa063f630c0a6 100644 --- a/real_robot/coordination_formation_control_pkg/src/drone_node.cpp +++ b/real_robot/coordination_formation_control_pkg/src/drone_node.cpp @@ -270,7 +270,7 @@ int main(int argc, char **argv) { /* integrate acceleration*/ Eigen::Vector2d vel_command = acc_int.integrate(input(0,0), input(1,0)); /* 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.vy = 0;