Multi drones flight #27
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Please, follow this issue: gsilano/CrazyS#44 Although it refers to CrazyS (another work of mine), the procedure should be exactly the same. |
Thanks for your response. Now, I know that the problem may be related to the namespace. But I don't know how to modify it, I would be very appreciate it if you can give me some guidance? <?xml version="1.0"?>
<launch>
<arg name="name" default="bebop"/>
<arg name="plotName" default="bebopPlots"/>
<arg name="world_name" default="test_city"/>
<env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find bebop_simulator)/models"/>
<env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find bebop_simulator)/models"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find bebop_simulator)/worlds/$(arg world_name).world" />
</include>
<include file="$(find bebop_simulator)/launch/spawn_bebop.launch">
<arg name="name" value="$(arg name)" />
<arg name="x" value="0.0"/>
<arg name="y" value="0.0"/>
<arg name="z" value="0.3"/>
<arg name="wind_force" value="0.0"/>
<arg name="wind_start" value="0.0"/>
<arg name="wind_duration" value="40.0"/>
<arg name="wind_direction_x" value="0.0"/>
<arg name="wind_direction_y" value="0.0"/>
<arg name="wind_direction_z" value="0.0"/>
<arg name="enable_odometry_sensor_with_noise" value="false"/>
<arg name="disable_odometry_sensor_with_noise" value="true"/>
<arg name="enable_ground_truth_sensor" value="false"/>
<arg name="enable_wind_plugin" value="false"/>
<arg name="enable_imu" value="true"/>
<arg name="enable_laser1D" value="false"/>
</include>
<node name="position_controller_node" pkg="bebop_simulator" type="position_controller_node" output="screen">
<rosparam command="load" file="$(find bebop_simulator)/resource/controller_bebop.yaml" />
<rosparam command="load" file="$(find bebop_simulator)/resource/bebop.yaml" />
<rosparam command="load" file="$(find bebop_simulator)/resource/EKF_matrix.yaml" />
<rosparam command="load" file="$(find bebop_simulator)/resource/waypoint_filter.yaml" />
<param name="use_sim_time" value="true" />
<param name="csvFilesStoring" value="false"/>
<param name="csvFilesStoringTime" value="60.0"/>
<param name="user_account" value="giuseppe"/>
<param name="waypoint_filter" value="true"/>
<param name="EKFActive" value="false"/>
<remap from="/command/motor_speed" to="/gazebo/command/motor_speed" />
<remap from="/odometry" to="/bebop/odometry" />
<remap from="/odometry_gt" to="/bebop/odometry_gt" />
<remap from="/filteredOutput" to="/bebop/filteredOutput" />
<remap from="/referenceAngles" to="/bebop/referenceAngles" />
<remap from="/stateErrors" to="/bebop/stateErrors" />
<remap from="/smoothedTrajectory" to="/bebop/smoothedTrajectory" />
<remap from="/command/trajectory" to="/bebop/command/trajectory" />
<remap from="/uTerrComponents" to="/bebop/uTerrComponents" />
<remap from="/zVelocityComponents" to="/bebop/zVelocityComponents" />
<remap from="/positionAndVelocityErrors" to="/bebop/positionAndVelocityErrors" />
<remap from="/angularAndAngularVelocityErrors" to="/bebop/angularAndAngularVelocityErrors" />
</node>
<!-- Launch the trajectory generator -->
<group ns="$(arg name)">
<node name="waypoint_example" pkg="bebop_simulator" type="waypoint_example" output="screen" args="$(find bebop_simulator)/resource/waypoints.txt"/>
</group>
</launch> |
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I suggest you start from this file, and then take a look at all the related file (e.g., the spawn_mav_crazyfle). I hope this helps. |
I'm so sorry to disturb you again. But now, I have no idea about the problem. My recent study status is as follows:Firstly, The biggest problem I have encountered is that gazebo node and position_controller_node node cannot communicate.
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Okay, I get it. Let's do it this way. To save time, I'll create this file for you and then upload it to the repository. I should give back to you in a few days. |
Thank you so much！ |
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Hi @golden-memory! Sorry for the delay, but this a very stressful period for me. Therefore, I did not have time to work on a ready-to-use example. However, I would like to help you understand the issue and to fix it. I think a few problems should come up, but let's see what it happens. <?xml version="1.0"?>
<launch>
<arg name="name_1" default="bebop_1"/>
<arg name="name_1" default="bebop_2"/>
<arg name="x_1" default="0.0" />
<arg name="y_1" default="0.0" />
<arg name="z_1" default="0.02" />
<arg name="x_2" default="-5.0" />
<arg name="y_2" default="-5.0" />
<arg name="z_2" default="0.02" />
<arg name="use_sim_time" default="true"/>
<arg name="world_name" default="basic"/>
<arg name="wind_force" default="0.5"/>
<arg name="wind_start" default="15.0"/>
<arg name="wind_duration" default="10.0"/>
<arg name="wind_direction_x" default="0.0"/>
<arg name="wind_direction_y" default="0.0"/>
<arg name="wind_direction_z" default="1.0"/>
<arg name="csvFilesStoring" default="false"/>
<arg name="csvFilesStoringTime" default="15.0"/> <!-- seconds -->
<arg name="user_account" default="giuseppe"/>
<arg name="waypoint_filter" default="true"/>
<arg name="EKFActive" default="false"/>
<arg name="enable_imu" default="true"/>
<arg name="enable_odometry_sensor_with_noise" default="false"/>
<!-- The "disable_odometry_sensor_with_noise" variable values is equal to true if "enable_odometry_sensor_with_noise"
is false, and viceversa -->
<arg name="disable_odometry_sensor_with_noise" value="true" unless="$(arg enable_odometry_sensor_with_noise)"/>
<arg name="disable_odometry_sensor_with_noise" value="false" if="$(arg enable_odometry_sensor_with_noise)"/>
<arg name="enable_ground_truth_sensor" default="false"/>
<arg name="enable_wind_plugin" default="false"/>
<arg name="enable_laser1D" default="false"/>
<arg name="enable_imu" default="true"/>
<env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find bebop_simulator)/models"/>
<env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find bebop_simulator)/models"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find bebop_simulator)/worlds/$(arg world_name).world" />
</include>
<!-- Launch UAV1 -->
<include file="$(find bebop_simulator)/launch/spawn_bebop.launch">
<arg name="name" value="$(arg name_1)" />
<arg name="x" value="$(arg x_1)"/>
<arg name="y" value="$(arg y_1)"/>
<arg name="z" value="$(arg z_1)"/>
<arg name="wind_force" value="$(arg wind_force)"/>
<arg name="wind_start" value="$(arg wind_start)"/>
<arg name="wind_duration" value="$(arg wind_duration)"/>
<arg name="wind_direction_x" value="$(arg wind_direction_x)"/>
<arg name="wind_direction_y" value="$(arg wind_direction_y)"/>
<arg name="wind_direction_z" value="$(arg wind_direction_z)"/>
<!-- The disable_odometry_sensor_with_noise will only become true if enable_odometry_sensor_with_noise will is false.
In this way, only one odometry sensor will be simulated: with or without noise. -->
<arg name="enable_odometry_sensor_with_noise" value="$(arg enable_odometry_sensor_with_noise)"/>
<arg name="disable_odometry_sensor_with_noise" value="$(arg disable_odometry_sensor_with_noise)" />
<arg name="enable_ground_truth_sensor" value="$(arg enable_ground_truth_sensor)"/>
<arg name="enable_wind_plugin" value="$(arg enable_wind_plugin)"/>
<arg name="enable_laser1D" value="$(arg enable_laser1D)"/>
<arg name="enable_imu" value="$(arg enable_imu)"/>
</include>
<!-- Launch UAV2 -->
<include file="$(find bebop_simulator)/launch/spawn_bebop.launch">
<arg name="name" value="$(arg name_2)" />
<arg name="x" value="$(arg x_2)"/>
<arg name="y" value="$(arg y_2)"/>
<arg name="z" value="$(arg z_2)"/>
<arg name="wind_force" value="$(arg wind_force)"/>
<arg name="wind_start" value="$(arg wind_start)"/>
<arg name="wind_duration" value="$(arg wind_duration)"/>
<arg name="wind_direction_x" value="$(arg wind_direction_x)"/>
<arg name="wind_direction_y" value="$(arg wind_direction_y)"/>
<arg name="wind_direction_z" value="$(arg wind_direction_z)"/>
<!-- The disable_odometry_sensor_with_noise will only become true if enable_odometry_sensor_with_noise will is false.
In this way, only one odometry sensor will be simulated: with or without noise. -->
<arg name="enable_odometry_sensor_with_noise" value="$(arg enable_odometry_sensor_with_noise)"/>
<arg name="disable_odometry_sensor_with_noise" value="$(arg disable_odometry_sensor_with_noise)" />
<arg name="enable_ground_truth_sensor" value="$(arg enable_ground_truth_sensor)"/>
<arg name="enable_wind_plugin" value="$(arg enable_wind_plugin)"/>
<arg name="enable_laser1D" value="$(arg enable_laser1D)"/>
<arg name="enable_imu" value="$(arg enable_imu)"/>
</include>
<!-- Launch the controller for UAV 1-->
<node name="position_controller_node" pkg="bebop_simulator" type="position_controller_node" output="screen">
<rosparam command="load" file="$(find bebop_simulator)/resource/controller_bebop.yaml" />
<rosparam command="load" file="$(find bebop_simulator)/resource/bebop.yaml" />
<rosparam command="load" file="$(find bebop_simulator)/resource/EKF_matrix.yaml" />
<rosparam command="load" file="$(find bebop_simulator)/resource/waypoint_filter.yaml" />
<param name="use_sim_time" value="$(arg use_sim_time)" />
<param name="csvFilesStoring" value="$(arg csvFilesStoring)"/>
<param name="csvFilesStoringTime" value="$(arg csvFilesStoringTime)"/>
<param name="user_account" value="$(arg user_account)"/>
<param name="waypoint_filter" value="$(arg waypoint_filter)"/>
<param name="EKFActive" value="$(arg EKFActive)"/>
<remap from="/command/motor_speed" to="/gazebo/command/motor_speed" />
<remap from="/odometry" to="/$(arg name_1)/odometry" />
<remap from="/odometry_gt" to="/$(arg name_1)/odometry_gt" />
<remap from="/referenceAngles" to="/$(arg name_1)/referenceAngles" />
<remap from="/filteredOutput" to="/$(arg name_1)/filteredOutput" />
<remap from="/stateErrors" to="/$(arg name_1)/stateErrors" />
<remap from="/smoothedTrajectory" to="/$(arg name_1)/smoothedTrajectory" />
<remap from="/command/trajectory" to="/$(arg name_1)/command/trajectory" />
</node>
<!-- Launch the controller for UAV 2-->
<node name="position_controller_node" pkg="bebop_simulator" type="position_controller_node" output="screen">
<rosparam command="load" file="$(find bebop_simulator)/resource/controller_bebop.yaml" />
<rosparam command="load" file="$(find bebop_simulator)/resource/bebop.yaml" />
<rosparam command="load" file="$(find bebop_simulator)/resource/EKF_matrix.yaml" />
<rosparam command="load" file="$(find bebop_simulator)/resource/waypoint_filter.yaml" />
<param name="use_sim_time" value="$(arg use_sim_time)" />
<param name="csvFilesStoring" value="$(arg csvFilesStoring)"/>
<param name="csvFilesStoringTime" value="$(arg csvFilesStoringTime)"/>
<param name="user_account" value="$(arg user_account)"/>
<param name="waypoint_filter" value="$(arg waypoint_filter)"/>
<param name="EKFActive" value="$(arg EKFActive)"/>
<remap from="/command/motor_speed" to="/gazebo/command/motor_speed" />
<remap from="/odometry" to="/$(arg name_2)/odometry" />
<remap from="/odometry_gt" to="/$(arg name_2)/odometry_gt" />
<remap from="/referenceAngles" to="/$(arg name_2)/referenceAngles" />
<remap from="/filteredOutput" to="/$(arg name_2)/filteredOutput" />
<remap from="/stateErrors" to="/$(arg name_2)/stateErrors" />
<remap from="/smoothedTrajectory" to="/$(arg name_2)/smoothedTrajectory" />
<remap from="/command/trajectory" to="/$(arg name_2)/command/trajectory" />
</node>
<!-- Launch the trajectory generator -->
<group ns="$(arg name)">
<node name="hovering_example" pkg="bebop_simulator" type="hovering_example" output="screen"/>
</group>
</launch> |
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@gsilano Thank you for your reply! |
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Mhmm. As I can understand, add a second Bebop is not so easy as I supposed to be. This requires a lot of effort and a redesign of the simulation framework. The easiest way could be to start from the multi-robot example provided in the CrazyS repository, replacing the .xacro files used for the Crazyflie with those of the Bebop. This also means that you should manage the moving of the control algorithm. |
collinthornton
added a commit
to collinthornton/BebopS
that referenced
this issue
Aug 25, 2020
Modifications made to urdf/multirotor_base.urdf.xacro such that multiple bebops may be spawned
in the same simulation. Lines 109 and 113 were changed so that parameter titles matched with those
found in RotorS/rotors_gazebo_plugins/src/gazebo_motor_model.cpp. This resolves the rostopic
advertising conflict on bebop/motor_speed experienced by other developers.
Launch file examples have been added. See
- launch/multiple_bebop_without_controller.launch
- launch/multiple_task2_world.launch
for examples without and with a controller, respectively.
Resolves: gsilano#20, gsilano#27
|
@gsilano |
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I want to make multiple drones fly, but i don't know how to do it!
I run the command in a terminal as following
roslaunch bebop_simulator fly1.launchfly1.launch
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