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MultiDroneSimulation

Introduction

This project for simulating three drone and let them fly in a specific path autonomously over set of sensors located in the ground. The sensor nodes should able to pass messege to drone when a drone comes into it's region. Here I am simulate the world in gazebo environment and all my underlying program to control the drone and sensor operation is written in c++.

I have added 3 drones here each drone is devided the areas between them and assign to sensors in that region. Here I have print the reading from sensor node into terminal. I am maintaining three terminals for three drones.

This how drone aproches thier sensor nodes

This how drone read messeges from sensor nodes

to setup in the debian/ubuntu environment following must be followed.

  • Gazebo(recomended Gazebo9 or later )

  • Install Ros melodic (follow the steps here)

    • this installation contain gazebo9 itself no need to install yourself

  • Install Mavros library (follow the steps here)

    • this link contains the binary installation(recommended) if you planing to edit the source follow the step here

  • clone the latest px4 Firmware (follow the steps here)

if all above result satisfied your machine the clone this repo and launch it

For devolpers to modify the code

  • here lies al the coding part

    • There are folders for sensors and uavs
    • If devolper wants to made changes in uav path they change it in uav folder
    • If devolper wants to made changes underlying sensor property

  • here lies the world part

    • Devoloper can add or remove or edit the world file as he need
    • make sure corresponding changes in the launch files also. here devoloper can find the launch files