ROS2 Changes Tracker

.gitignore

@@ -1,4 +1,6 @@
 config/simulation.rviz
 .gitignore
 .vscode
-build
+build
+install
+log

CMakeLists.txt

@@ -0,0 +1,52 @@
+cmake_minimum_required(VERSION 3.8)
+project(mavswarm2)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(Armadillo REQUIRED)
+find_package(GSL REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(simulator_interfaces REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(visualization_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(glog REQUIRED)
+
+add_executable(mavswarm2 src/quadrotor.cpp)
+
+ament_target_dependencies(mavswarm2
+    rclcpp
+    geometry_msgs
+    tf2
+    tf2_ros
+    visualization_msgs
+    simulator_interfaces
+)
+
+target_link_libraries(mavswarm2
+    GSL::gsl
+    GSL::gslcblas
+    glog::glog
+)
+
+install(
+  TARGETS mavswarm2
+  DESTINATION lib/${PROJECT_NAME}
+)
+install(
+  DIRECTORY launch config cf_description
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+include_directories(
+    include/${PROJECT_NAME}
+    ${EIGEN3_INCLUDE_DIRS}
+)
+
+ament_package()

multi_uav_simulator/cf_description/crazyflie.urdf.xacro → cf_description/crazyflie.urdf.xacro

@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
-
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="crazyflie">
+  <xacro:arg name="robot_id" default="0"/>
 
-  <link name="base_link$(arg robot_id)">
+  <link name="base_link">
     <visual>
       <origin xyz="0 0 0" rpy="4.71 0 0" />
       <geometry>
-        <mesh filename="package://multi_uav_simulator/cf_description/crazyflie2.dae"/>
+        <mesh filename="package://mavswarm2/cf_description/crazyflie2.dae"/>
       </geometry>
     </visual>
   </link>

multi_uav_simulator/cf_description/crazyflie2.dae → cf_description/crazyflie2.dae

@@ -7,7 +7,7 @@
 		</contributor>
 		<created>2016-04-29T11:06:01Z</created>
 		<modified>2016-04-29T11:06:01Z</modified>
-		<unit meter="0.00200" name="millimeter"/>
+		<unit meter="0.00500" name="millimeter"/>
 		<up_axis>Z_UP</up_axis>
 	</asset>
 <library_geometries>

config/crazyflie_params.yaml

@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    controller_gains: [1.0, 0.5, 0.0015, 0.00075]
+        # kx: 1
+        # kv: 0.5
+        # kr: 0.0015
+        # komega: 0.00075
+
+    model:
+      J: [2.3951e-5, 2.3951e-5, 3.2347e-5]
+      m: 0.032
+      d: 0.08
+      ctf: 0.0037
+      gravity: 9.81
+

config/initial_conditions.yaml

@@ -0,0 +1,32 @@
+# define the initial positions of each robot in NWU frame
+# change the initial rotation matrix to [1, 0, 0, 0, 1, 0, 0, 0, 1] for initialing the 
+# drones right side up.
+robot_1:
+  position: [0, 0, -10]
+  velocity: [0, 0, 0]
+  rotation: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+  omega: [0, 0, 0]
+
+# robot_2:
+#   position: [-2, -2, -2]
+#   velocity: [0, 0, 0]
+#   rotation: [1, 0, 0, 0, -0.9995, -0.0314, 0, 0.0314, -0.9995]
+#   omega: [0, 0, 0]
+
+# robot_3:
+#   position: [-1, 1, -2]
+#   velocity: [0, 0, 0]
+#   rotation: [1, 0, 0, 0, -0.9995, -0.0314, 0, 0.0314, -0.9995]
+#   omega: [0, 0, 0]
+
+# robot_4:
+#   position: [1, -1, -2]
+#   velocity: [0, 0, 0]
+#   rotation: [1, 0, 0, 0, -0.9995, -0.0314, 0, 0.0314, -0.9995]
+#   omega: [0, 0, 0]
+
+# robot_5:
+#   position: [0, 0, -2]
+#   velocity: [0, 0, 0]
+#   rotation: [1, 0, 0, 0, -0.9995, -0.0314, 0, 0.0314, -0.9995]
+#   omega: [0, 0, 0]

config/initial_conditions_2.yaml

@@ -0,0 +1,77 @@
+# define the initial positions of each robot in NWU frame
+# change the initial rotation matrix to [1, 0, 0, 0, 1, 0, 0, 0, 1] for initialing the
+# drones right side up.
+# "/**/robot_0" matches the node whether it is namespaced (e.g. /mavswarm2/robot_0
+# when started from the launch file) or run bare as /robot_0. A plain "robot_0:" key
+# does NOT match a namespaced node, which silently drops these params.
+#
+# Line formation along +y, spaced 1.0 m, centred symmetrically about y = 0.
+/**/robot_0:
+  ros__parameters:
+    position: [2.0, -4.5, 2.0]
+    velocity: [0.0, 0.0, 0.0]
+    rotation: [1.0, 0.0, 0.0, 0.0, -0.9995, -0.0314, 0.0, 0.0314, -0.9995]
+    omega: [0.0, 0.0, 0.0]
+
+/**/robot_1:
+  ros__parameters:
+    position: [2.0, -3.5, 2.0]
+    velocity: [0.0, 0.0, 0.0]
+    rotation: [1.0, 0.0, 0.0, 0.0, -0.9995, -0.0314, 0.0, 0.0314, -0.9995]
+    omega: [0.0, 0.0, 0.0]
+
+/**/robot_2:
+  ros__parameters:
+    position: [2.0, -2.5, 2.0]
+    velocity: [0.0, 0.0, 0.0]
+    rotation: [1.0, 0.0, 0.0, 0.0, -0.9995, -0.0314, 0.0, 0.0314, -0.9995]
+    omega: [0.0, 0.0, 0.0]
+
+/**/robot_3:
+  ros__parameters:
+    position: [2.0, -1.5, 2.0]
+    velocity: [0.0, 0.0, 0.0]
+    rotation: [1.0, 0.0, 0.0, 0.0, -0.9995, -0.0314, 0.0, 0.0314, -0.9995]
+    omega: [0.0, 0.0, 0.0]
+
+/**/robot_4:
+  ros__parameters:
+    position: [2.0, -0.5, 2.0]
+    velocity: [0.0, 0.0, 0.0]
+    rotation: [1.0, 0.0, 0.0, 0.0, -0.9995, -0.0314, 0.0, 0.0314, -0.9995]
+    omega: [0.0, 0.0, 0.0]
+
+/**/robot_5:
+  ros__parameters:
+    position: [2.0, 0.5, 2.0]
+    velocity: [0.0, 0.0, 0.0]
+    rotation: [1.0, 0.0, 0.0, 0.0, -0.9995, -0.0314, 0.0, 0.0314, -0.9995]
+    omega: [0.0, 0.0, 0.0]
+
+/**/robot_6:
+  ros__parameters:
+    position: [2.0, 1.5, 2.0]
+    velocity: [0.0, 0.0, 0.0]
+    rotation: [1.0, 0.0, 0.0, 0.0, -0.9995, -0.0314, 0.0, 0.0314, -0.9995]
+    omega: [0.0, 0.0, 0.0]
+
+/**/robot_7:
+  ros__parameters:
+    position: [2.0, 2.5, 2.0]
+    velocity: [0.0, 0.0, 0.0]
+    rotation: [1.0, 0.0, 0.0, 0.0, -0.9995, -0.0314, 0.0, 0.0314, -0.9995]
+    omega: [0.0, 0.0, 0.0]
+
+/**/robot_8:
+  ros__parameters:
+    position: [2.0, 3.5, 2.0]
+    velocity: [0.0, 0.0, 0.0]
+    rotation: [1.0, 0.0, 0.0, 0.0, -0.9995, -0.0314, 0.0, 0.0314, -0.9995]
+    omega: [0.0, 0.0, 0.0]
+
+/**/robot_9:
+  ros__parameters:
+    position: [2.0, 4.5, 2.0]
+    velocity: [0.0, 0.0, 0.0]
+    rotation: [1.0, 0.0, 0.0, 0.0, -0.9995, -0.0314, 0.0, 0.0314, -0.9995]
+    omega: [0.0, 0.0, 0.0]