modify cformation demo based on the paper
This commit is contained in:
parent
8b21fe21b5
commit
30326783ef
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@ -1,5 +1,5 @@
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#!/bin/bash
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iris_num=3
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iris_num=9
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typhoon_h480_num=0
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solo_num=0
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plane_num=0
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@ -11,14 +11,14 @@ tailsitter_num=0
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vehicle_num=0
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while(( $vehicle_num< iris_num))
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do
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python multirotor_communication.py iris $vehicle_num&
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python2.7 multirotor_communication.py iris $vehicle_num&
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let "vehicle_num++"
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done
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vehicle_num=0
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while(( $vehicle_num< typhoon_h480_num))
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do
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python multirotor_communication.py typhoon_h480 $vehicle_num&
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python2.7 multirotor_communication.py typhoon_h480 $vehicle_num&
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let "vehicle_num++"
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done
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@ -53,7 +53,7 @@ class Communication:
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def start(self):
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rospy.init_node(self.vehicle_type+'_'+self.vehicle_id+"_communication")
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rate = rospy.Rate(100)
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rate = rospy.Rate(30)
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'''
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main ROS thread
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'''
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@ -0,0 +1,280 @@
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# encoding: utf-8
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import rospy
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from geometry_msgs.msg import Twist
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import sys, select, os
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import tty, termios
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from std_msgs.msg import String
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MAX_LINEAR = 20
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MAX_ANG_VEL = 3
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LINEAR_STEP_SIZE = 0.1
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ANG_VEL_STEP_SIZE = 0.1
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cmd_vel_mask = False
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ctrl_leader = False #初始 控制所有无人机
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msg2all = """
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Control Your XTDrone!
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To all drones (press g to control the leader)
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---------------------------
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1 2 3 4 5 6 7 8 9 0
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w r t y i
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a s d g j k l
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x v b n ,
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w/x : increase/decrease forward velocity
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a/d : increase/decrease leftward velocity
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i/, : increase/decrease upward velocity
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j/l : increase/decrease orientation
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r : return home
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t/y : arm/disarm
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v/n : takeoff/land
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b : offboard
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s/k : hover and remove the mask of keyboard control
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0~9 : extendable mission(eg.different formation configuration)
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this will mask the keyboard control
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g : control the leader
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CTRL-C to quit
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"""
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msg2leader = """
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Control Your XTDrone!
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To the leader (press g to control all drones)
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---------------------------
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1 2 3 4 5 6 7 8 9 0
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w r t y i
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a s d g j k l
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x v b n ,
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w/x : increase/decrease forward velocity
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a/d : increase/decrease leftward velocity
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i/, : increase/decrease upward velocity
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j/l : increase/decrease orientation
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r : return home
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t/y : arm/disarm
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v/n : takeoff(disenabled now)/land
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b : offboard
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s/k : hover and remove the mask of keyboard control
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0~9 : extendable mission(eg.different formation configuration)
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this will mask the keyboard control
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g : control all drones
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CTRL-C to quit
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"""
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e = """
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Communications Failed
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"""
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def getKey(): # 获得键盘按键
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tty.setraw(sys.stdin.fileno())
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rlist, _, _ = select.select([sys.stdin], [], [], 0.1)
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if rlist:
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key = sys.stdin.read(1)
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else:
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key = ''
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termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
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return key
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def print_msg(): # 打印提示信息
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if ctrl_leader:
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print(msg2leader)
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else:
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print(msg2all)
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if __name__=="__main__":
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settings = termios.tcgetattr(sys.stdin)
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multirotor_type = sys.argv[1]
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multirotor_num = int(sys.argv[2])
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control_type = sys.argv[3] #vel 速度控制
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'''
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if multirotor_num == 18: #多无人机编队
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formation_configs = ['waiting', 'cuboid', 'sphere', 'diamond'] # 0-9的参数
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elif multirotor_num == 9:
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formation_configs = ['waiting', 'cube', 'pyramid', 'triangle']
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elif multirotor_num == 6:
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formation_configs = ['waiting', 'T', 'diamond', 'triangle']
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''' # 0 1 2 3
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if multirotor_num == 21:
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formation_configs = ['waiting', 'cube21', 'circle21', 'pyramid21', 'diamond21']
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elif multirotor_num == 34:
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formation_configs = ['waiting', 'CUBE', 'HEART', '520', 'NUDT', '八一']
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cmd= String()
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twist = Twist()
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rospy.init_node('multirotor_keyboard_multi_control')
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if control_type == 'vel': # 速度控制
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multi_cmd_vel_flu_pub = [None]*multirotor_num
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multi_cmd_pub = [None]*multirotor_num
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for i in range(multirotor_num):
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multi_cmd_vel_flu_pub[i] = rospy.Publisher('/xtdrone/'+multirotor_type+'_'+str(i)+'/cmd_vel_flu', Twist, queue_size=10)
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multi_cmd_pub[i] = rospy.Publisher('/xtdrone/'+multirotor_type+'_'+str(i)+'/cmd',String,queue_size=10)
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leader_cmd_vel_flu_pub = rospy.Publisher("/xtdrone/leader/cmd_vel_flu", Twist, queue_size=10)
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leader_cmd_pub = rospy.Publisher("/xtdrone/leader/cmd", String, queue_size=10)
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else: # 加速度控制
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multi_cmd_accel_flu_pub = [None]*multirotor_num
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multi_cmd_pub = [None]*multirotor_num
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for i in range(multirotor_num):
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multi_cmd_accel_flu_pub[i] = rospy.Publisher('/xtdrone/'+multirotor_type+'_'+str(i)+'/cmd_accel_flu', Twist, queue_size=10)
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multi_cmd_pub[i] = rospy.Publisher('/xtdrone/'+multirotor_type+'_'+str(i)+'/cmd',String,queue_size=10)
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leader_cmd_accel_flu_pub = rospy.Publisher("/xtdrone/leader/cmd_accel_flu", Twist, queue_size=10)
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leader_cmd_pub = rospy.Publisher("/xtdrone/leader/cmd", String, queue_size=10)
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forward = 0.0
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leftward = 0.0
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upward = 0.0
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angular = 0.0
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print_msg()
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while(1):
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key = getKey()
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if key == 'w' :
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forward = forward + LINEAR_STEP_SIZE
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print_msg()
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if control_type == 'vel':
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print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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else:
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print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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elif key == 'x' :
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forward = forward - LINEAR_STEP_SIZE
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print_msg()
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if control_type == 'vel':
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print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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else:
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print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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elif key == 'a' :
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leftward = leftward + LINEAR_STEP_SIZE
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print_msg()
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if control_type == 'vel':
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print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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else:
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print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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elif key == 'd' :
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leftward = leftward - LINEAR_STEP_SIZE
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print_msg()
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if control_type == 'vel':
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print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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else:
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print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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elif key == 'i' :
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upward = upward + LINEAR_STEP_SIZE
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print_msg()
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if control_type == 'vel':
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print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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else:
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print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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elif key == ',' :
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upward = upward - LINEAR_STEP_SIZE
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print_msg()
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if control_type == 'vel':
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print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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else:
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print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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elif key == 'j':
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angular = angular + ANG_VEL_STEP_SIZE
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print_msg()
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print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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elif key == 'l':
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angular = angular - ANG_VEL_STEP_SIZE
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print_msg()
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print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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elif key == 'r': # 自动返回起飞点
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cmd = 'AUTO.RTL'
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print_msg()
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print('Returning home')
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elif key == 't': #飞机解锁
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cmd = 'ARM'
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print_msg()
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print('Arming')
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elif key == 'y': # 飞机上锁
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cmd = 'DISARM'
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print_msg()
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print('Disarming')
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elif key == 'v':
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cmd = 'AUTO.TAKEOFF'
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cmd = ''
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print_msg()
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#print('Takeoff mode is disenabled now')
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elif key == 'b':
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cmd = 'OFFBOARD'
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print_msg()
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print('Offboard')
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elif key == 'n': # 自动着陆
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cmd = 'AUTO.LAND'
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print_msg()
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print('Landing')
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elif key == 'g': # 开启或结束编队控制
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ctrl_leader = not ctrl_leader
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print_msg()
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elif key in ['k', 's']: # 悬停，全部参数归零
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cmd_vel_mask = False
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forward = 0.0
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leftward = 0.0
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upward = 0.0
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angular = 0.0
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cmd = 'HOVER'
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print_msg()
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print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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print('Hover')
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else:
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for i in range(10): # 按键数字
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if key == str(i):
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cmd = formation_configs[i] # 编队的队形
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print_msg()
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print(cmd)
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cmd_vel_mask = True # 有掩模，其他按键无效
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if (key == '\x03'):
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break
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if forward > MAX_LINEAR:
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forward = MAX_LINEAR
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elif forward < -MAX_LINEAR:
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forward = -MAX_LINEAR
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if leftward > MAX_LINEAR:
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leftward = MAX_LINEAR
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elif leftward < -MAX_LINEAR:
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leftward = -MAX_LINEAR
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if upward > MAX_LINEAR:
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upward = MAX_LINEAR
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elif upward < -MAX_LINEAR:
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upward = -MAX_LINEAR
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if angular > MAX_ANG_VEL:
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angular = MAX_ANG_VEL
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elif angular < -MAX_ANG_VEL:
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angular = - MAX_ANG_VEL
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twist.linear.x = forward; twist.linear.y = leftward ; twist.linear.z = upward
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twist.angular.x = 0.0; twist.angular.y = 0.0; twist.angular.z = angular
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for i in range(multirotor_num): # 无人机数量
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if ctrl_leader:
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if control_type == 'vel':
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leader_cmd_vel_flu_pub.publish(twist)
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else:
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leader_cmd_aceel_flu_pub.publish(twist) #无定义
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leader_cmd_pub.publish(cmd)
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else:
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if not cmd_vel_mask: #只有在输入0-9时，mask为True，其余情况为F 。这里是非数字时
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if control_type == 'vel':
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multi_cmd_vel_flu_pub[i].publish(twist)
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else:
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multi_cmd_accel_flu_pub[i].publish(twist)
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multi_cmd_pub[i].publish(cmd)
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cmd = ''
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termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
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@ -119,8 +119,10 @@ class Follower:
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self.change_id = self.KM()
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# Get a new formation pattern of UAVs based on KM.
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#self.L_matrix = self.get_L_matrix(self.orig_formation)
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self.new_formation=self.get_new_formation(self.change_id,formation_dict[self.formation_config])
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self.L_matrix = self.get_L_matrix(self.new_formation)
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#self.L_matrix = self.get_L_matrix(self.new_formation)
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self.L_matrix = self.get_L_central_matrix()
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self.orig_formation=self.new_formation
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if self.id == 3:
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print(self.L_matrix)
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@ -238,7 +240,7 @@ class Follower:
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def get_L_matrix(self, rel_posi):
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#假设无论多少UAV，都假设尽可能3层通信（叶子节点除外）
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c_num=int((self.uav_num-1)/3)
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c_num=int((self.uav_num+1)/3)
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comm=[[]for i in range (self.uav_num)]
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w=numpy.ones((self.uav_num,self.uav_num))*0 # 定义邻接矩阵
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@ -272,7 +274,7 @@ class Follower:
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if i==next_node or i in node_flag:
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rel_d[i]=2000 #这个2000是根据相对位置和整个地图的大小决定的，要比最大可能相对距离大
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rel_d[i]=1e10 #要比最大可能相对距离大
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else:
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rel_d[i]=pow((rel_posi[0][i]-rel_posi[0][next_node]),2)+pow((rel_posi[1][i]-rel_posi[1][next_node]),2)+pow((rel_posi[2][i]-rel_posi[2][next_node]),2)
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@ -1,109 +0,0 @@
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<?xml version="1.0"?>
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<launch>
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<!-- MAVROS posix SITL environment launch script -->
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<!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
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<!-- vehicle model and world -->
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<arg name="est" default="ekf2"/>
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<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/outdoor3.world"/>
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<!-- gazebo configs -->
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<arg name="gui" default="true"/>
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<arg name="debug" default="false"/>
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<arg name="verbose" default="false"/>
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<arg name="paused" default="false"/>
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<!-- Gazebo sim -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="gui" value="$(arg gui)"/>
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<arg name="world_name" value="$(arg world)"/>
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<arg name="debug" value="$(arg debug)"/>
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<arg name="verbose" value="$(arg verbose)"/>
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<arg name="paused" value="$(arg paused)"/>
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</include>
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<!-- rover_0 -->
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<group ns="rover_0">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="0"/>
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<arg name="ID_in_group" value="0"/>
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<arg name="fcu_url" default="udp://:24540@localhost:34580"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="3"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="rover"/>
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<arg name="sdf" value="rover_with_lidar_stereo"/>
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<arg name="mavlink_udp_port" value="18570"/>
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<arg name="mavlink_tcp_port" value="4560"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- rover_1 -->
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<group ns="rover_1">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="1"/>
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<arg name="ID_in_group" value="1"/>
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<arg name="fcu_url" default="udp://:24541@localhost:34581"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="6"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
|
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<arg name="Y" value="0"/>
|
||||
<arg name="vehicle" value="rover"/>
|
||||
<arg name="sdf" value="rover_with_lidar_stereo"/>
|
||||
<arg name="mavlink_udp_port" value="18571"/>
|
||||
<arg name="mavlink_tcp_port" value="4561"/>
|
||||
<arg name="ID" value="$(arg ID)"/>
|
||||
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
|
||||
</include>
|
||||
<!-- MAVROS -->
|
||||
<include file="$(find mavros)/launch/px4.launch">
|
||||
<arg name="fcu_url" value="$(arg fcu_url)"/>
|
||||
<arg name="gcs_url" value=""/>
|
||||
<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
|
||||
<arg name="tgt_component" value="1"/>
|
||||
</include>
|
||||
</group>
|
||||
<!-- rover_2 -->
|
||||
<group ns="rover_2">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="2"/>
|
||||
<arg name="ID_in_group" value="2"/>
|
||||
<arg name="fcu_url" default="udp://:24542@localhost:34582"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="0"/>
|
||||
<arg name="y" value="9"/>
|
||||
<arg name="z" value="0"/>
|
||||
<arg name="R" value="0"/>
|
||||
<arg name="P" value="0"/>
|
||||
<arg name="Y" value="0"/>
|
||||
<arg name="vehicle" value="rover"/>
|
||||
<arg name="sdf" value="rover_with_lidar_stereo"/>
|
||||
<arg name="mavlink_udp_port" value="18572"/>
|
||||
<arg name="mavlink_tcp_port" value="4562"/>
|
||||
<arg name="ID" value="$(arg ID)"/>
|
||||
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
|
||||
</include>
|
||||
<!-- MAVROS -->
|
||||
<include file="$(find mavros)/launch/px4.launch">
|
||||
<arg name="fcu_url" value="$(arg fcu_url)"/>
|
||||
<arg name="gcs_url" value=""/>
|
||||
<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
|
||||
<arg name="tgt_component" value="1"/>
|
||||
</include>
|
||||
</group>
|
||||
</launch>
|
||||
<!--the launch file is generated by XTDrone multi-vehicle generator.py -->
|
||||
|
|
@ -25,7 +25,7 @@ if __name__ == '__main__':
|
|||
multi_odom_groundtruth_sub[i] = rospy.Subscriber('/xtdrone/'+vehicle_type+'_'+str(i)+'/ground_truth/odom', Odometry, odm_groundtruth_callback, i)
|
||||
multi_pose_pub[i] = rospy.Publisher(vehicle_type+'_'+str(i)+'/mavros/vision_pose/pose', PoseStamped, queue_size=2)
|
||||
multi_speed_pub[i] = rospy.Publisher(vehicle_type+'_'+str(i)+'/mavros/vision_speed/speed', Vector3Stamped, queue_size=2)
|
||||
rate = rospy.Rate(100)
|
||||
rate = rospy.Rate(50)
|
||||
while True:
|
||||
for i in range(vehicle_num):
|
||||
multi_pose_pub[i].publish(multi_local_pose[i])
|
||||
|
|
|
|||
|
|
@ -9,11 +9,11 @@ tiltrotor_num=0
|
|||
tailsitter_num=0
|
||||
|
||||
|
||||
python get_local_pose.py iris $iris_num&
|
||||
python get_local_pose.py typhoon_h480 $typhoon_h480_num&
|
||||
python get_local_pose.py solo $solo_num&
|
||||
python get_local_pose.py plane $plane_num&
|
||||
python get_local_pose.py rover $rover_num&
|
||||
python get_local_pose.py standard_vtol $standard_vtol_num&
|
||||
python get_local_pose.py tiltrotor $tiltrotor_num&
|
||||
python get_local_pose.py tailsitter $tailsitter_num
|
||||
python2.7 get_local_pose.py iris $iris_num&
|
||||
python2.7 get_local_pose.py typhoon_h480 $typhoon_h480_num&
|
||||
python2.7 get_local_pose.py solo $solo_num&
|
||||
python2.7 get_local_pose.py plane $plane_num&
|
||||
python2.7 get_local_pose.py rover $rover_num&
|
||||
python2.7 get_local_pose.py standard_vtol $standard_vtol_num&
|
||||
python2.7 get_local_pose.py tiltrotor $tiltrotor_num&
|
||||
python2.7 get_local_pose.py tailsitter $tailsitter_num
|
||||
|
|
|
|||
Loading…
Reference in New Issue