From 7c33e93f1e6d304fdd58335665942a85aaa3956e Mon Sep 17 00:00:00 2001
From: Stevedan Ogochukwu Omodolor <stevedan.o.omodolor@gmail.com>
Date: Fri, 27 May 2022 09:53:18 +0200
Subject: [PATCH] test 1 env prepared but not tested

---
 .../config/missionConfig.yaml                 |   4 +--
 .../launch/mission_controller.launch          |   2 +-
 .../config_files/crazyfliesConfig.yaml        |  17 ++++++++++++
 .../config_files/formationConfig.yaml         |  25 ++++++++++++++++++
 .../config_files/missionConfig.yaml           |  15 +++++++++++
 .../results/experiment_1/notes.txt            |   5 ++++
 ...anglular_formation_crazyflie_1_logdata.bag | Bin 76122 -> 0 bytes
 ...anglular_formation_crazyflie_2_logdata.bag | Bin 60777 -> 0 bytes
 ...anglular_formation_crazyflie_3_logdata.bag | Bin 76122 -> 0 bytes
 .../experiment_2_crazyflie_1_logdata.bag      | Bin 115495 -> 0 bytes
 .../experiment_2_crazyflie_2_logdata.bag      | Bin 342299 -> 0 bytes
 .../experiment_2_omniwheel_1_logdata.bag      | Bin 355437 -> 0 bytes
 .../src/drone_node.cpp                        |   2 +-
 13 files changed, 66 insertions(+), 4 deletions(-)
 create mode 100644 real_robot/coordination_formation_control_pkg/results/experiment_1/config_files/crazyfliesConfig.yaml
 create mode 100644 real_robot/coordination_formation_control_pkg/results/experiment_1/config_files/formationConfig.yaml
 create mode 100644 real_robot/coordination_formation_control_pkg/results/experiment_1/config_files/missionConfig.yaml
 create mode 100644 real_robot/coordination_formation_control_pkg/results/experiment_1/notes.txt
 delete mode 100644 real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_1_logdata.bag
 delete mode 100644 real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_2_logdata.bag
 delete mode 100644 real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_3_logdata.bag
 delete mode 100644 real_robot/coordination_formation_control_pkg/results/experiment_2_crazyflie_1_logdata.bag
 delete mode 100644 real_robot/coordination_formation_control_pkg/results/experiment_2_crazyflie_2_logdata.bag
 delete mode 100644 real_robot/coordination_formation_control_pkg/results/experiment_2_omniwheel_1_logdata.bag

diff --git a/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml b/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml
index a133ede..89b9b4c 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 407ec50..8e386d9 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 0000000..8d7912f
--- /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 0000000..3284e1c
--- /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 0000000..89b9b4c
--- /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 0000000..95cc05d
--- /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
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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 80d41a6..cbc4069 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;
-- 
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