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Circular #1

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2f52e33
test
TagirMuslimov Nov 5, 2022
5720b48
del
TagirMuslimov Nov 5, 2022
adf676e
add
TagirMuslimov Nov 5, 2022
510d716
add new
TagirMuslimov Nov 5, 2022
efd3738
sitl moving center
TagirMuslimov Nov 5, 2022
2aec456
2nd att
TagirMuslimov Nov 5, 2022
f0cb1f1
2nd
TagirMuslimov Nov 5, 2022
e6b2f9d
Artificial Potential Field
Dec 17, 2022
2df32a4
Artificial Potential Field
Dec 17, 2022
848c63e
fixed
Dec 17, 2022
8ea747a
new
Dec 17, 2022
014f36f
new data
Dec 19, 2022
bd69575
Add return home and logging
AnBesp Dec 20, 2022
19f6253
Fix warning
AnBesp Dec 20, 2022
ad63652
push
Dec 21, 2022
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1,143 changes: 1,143 additions & 0 deletions crazyflie_gazebo/launch/mylog_plot_2.xml
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131 changes: 131 additions & 0 deletions crazyflie_gazebo/launch/three_cf_sim.launch
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<?xml version="1.0"?>

<launch>
<arg name="mav_name" default="crazyflie"/>
<arg name="world_name" default="basic"/>
<arg name="debug" default="false"/>
<arg name="gui" default="true"/>
<arg name="paused" default="true"/>

<!-- Crazyflie arguments -->
<arg name="enable_logging" default="true" />
<arg name="enable_parameters" default="true" />
<arg name="use_ros_time" default="true" />
<arg name="enable_logging_imu" default="false" />
<arg name="enable_logging_temperature" default="false" />
<arg name="enable_logging_magnetic_field" default="false" />
<arg name="enable_logging_pressure" default="false" />
<arg name="enable_logging_battery" default="false" />
<arg name="enable_logging_packets" default="false" />

<arg name="nbQuads" default="3" />
<arg name="cfPrefix" default="cf" />
<arg name="uri" default="INADDR_ANY://19950"/>
<arg name="handlerName" default="handler1"/>

<!-- Arguments for first Crazyflie -->
<arg name="tf_prefix_1" default="$(arg cfPrefix)1" />
<arg name="color_prop_front_1" default="Blue" />
<arg name="color_prop_back_1" default="Blue" />
<arg name="x_1" default="-0.186" />
<arg name="y_1" default="-0.064" />
<arg name="z_1" default="0.03" />

<!-- Arguments for second Crazyflie -->
<arg name="tf_prefix_2" default="$(arg cfPrefix)2" />
<arg name="color_prop_front_2" default="Red" />
<arg name="color_prop_back_2" default="Red" />
<arg name="x_2" default="0.535" />
<arg name="y_2" default="0.494" />
<arg name="z_2" default="0.03" />

<!-- Arguments for third Crazyflie -->
<arg name="tf_prefix_3" default="$(arg cfPrefix)3" />
<arg name="color_prop_front_3" default="Green" />
<arg name="color_prop_back_3" default="Green" />
<arg name="x_3" default="1.061" />
<arg name="y_3" default="-0.52" />
<arg name="z_3" default="0.03" />

<!-- Some custom blocks for every crazyflie in the environment-->
<rosparam>
genericLogTopics: ["local_position","target_position"]
genericLogTopicFrequencies: [10,10]
genericLogTopic_local_position_Variables: ["stateEstimate.x", "stateEstimate.y", "stateEstimate.z", "stabilizer.roll", "stabilizer.pitch", "stabilizer.yaw"]
genericLogTopic_target_position_Variables: ["posCtl.targetX", "posCtl.targetY", "posCtl.targetZ", "controller.roll", "controller.pitch", "controller.yaw"]
</rosparam>

<!-- The following line causes gzmsg and gzerr messages to be printed to the console
(even when Gazebo is started through roslaunch) -->
<arg name="verbose" default="true"/>

<env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find crazyflie_gazebo)/models"/>
<env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find crazyflie_gazebo)/models"/>

<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find crazyflie_gazebo)/worlds/$(arg world_name).world"/>
<arg name="debug" value="$(arg debug)" />
<arg name="paused" value="$(arg paused)" />
<arg name="gui" value="$(arg gui)" />
<arg name="verbose" value="$(arg verbose)"/>
</include>

<group ns="$(arg cfPrefix)1">
<include file="$(find crazyflie_gazebo)/launch/spawn_mav.launch">
<arg name="mav_name" value="$(arg mav_name)" />
<arg name="model" value="$(find crazyflie_gazebo)/models/rotors_description/urdf/$(arg mav_name)_base.xacro" />
<arg name="tf_prefix" value="$(arg tf_prefix_1)"/>
<arg name="color_prop_front" default="$(arg color_prop_front_1)" />
<arg name="color_prop_back" default="$(arg color_prop_back_1)" />
<arg name="x" default="$(arg x_1)"/>
<arg name="y" default="$(arg y_1)"/>
<arg name="z" default="$(arg z_1)"/>
</include>
</group>

<group ns="$(arg cfPrefix)2">
<include file="$(find crazyflie_gazebo)/launch/spawn_mav.launch">
<arg name="mav_name" value="$(arg mav_name)" />
<arg name="model" value="$(find crazyflie_gazebo)/models/rotors_description/urdf/$(arg mav_name)_base.xacro" />
<arg name="tf_prefix" value="$(arg tf_prefix_2)"/>
<arg name="color_prop_front" default="$(arg color_prop_front_2)" />
<arg name="color_prop_back" default="$(arg color_prop_back_2)" />
<arg name="x" default="$(arg x_2)"/>
<arg name="y" default="$(arg y_2)"/>
<arg name="z" default="$(arg z_2)"/>
</include>
</group>

<group ns="$(arg cfPrefix)3">
<include file="$(find crazyflie_gazebo)/launch/spawn_mav.launch">
<arg name="mav_name" value="$(arg mav_name)" />
<arg name="model" value="$(find crazyflie_gazebo)/models/rotors_description/urdf/$(arg mav_name)_base.xacro" />
<arg name="tf_prefix" value="$(arg tf_prefix_3)"/>
<arg name="color_prop_front" default="$(arg color_prop_front_3)" />
<arg name="color_prop_back" default="$(arg color_prop_back_3)" />
<arg name="x" default="$(arg x_3)"/>
<arg name="y" default="$(arg y_3)"/>
<arg name="z" default="$(arg z_3)"/>
</include>
</group>

<group ns="handler1">
<include file="$(find crazyflie_gazebo)/launch/spawn_plugin.launch">
<!--<arg name="handlerName" value="$(arg handerName)" />-->
<arg name="plugin_name" value="$(arg handlerName)" />
<arg name="nbQuads" value="$(arg nbQuads)" />
<arg name="cfPrefix" value="$(arg cfPrefix)" />
<arg name="uri" value="$(arg uri)" />

<arg name="enable_logging" value="$(arg enable_logging)"/>
<arg name="enable_parameters" value="$(arg enable_parameters)"/>
<arg name="use_ros_time" value="$(arg use_ros_time)"/>
<arg name="enable_logging_imu" value="$(arg enable_logging_imu)"/>
<arg name="enable_logging_temperature" value="$(arg enable_logging_temperature)"/>
<arg name="enable_logging_magnetic_field" value="$(arg enable_logging_magnetic_field)"/>
<arg name="enable_logging_pressure" value="$(arg enable_logging_pressure)"/>
<arg name="enable_logging_battery" value="$(arg enable_logging_battery)"/>
<arg name="enable_logging_packets" value="$(arg enable_logging_packets)"/>
</include>
</group>
</launch>
110 changes: 110 additions & 0 deletions crazyflie_gazebo/launch/two_cf_sim.launch
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<?xml version="1.0"?>

<launch>
<arg name="mav_name" default="crazyflie"/>
<arg name="world_name" default="basic"/>
<arg name="debug" default="false"/>
<arg name="gui" default="true"/>
<arg name="paused" default="true"/>

<!-- Crazyflie arguments -->
<arg name="enable_logging" default="true" />
<arg name="enable_parameters" default="true" />
<arg name="use_ros_time" default="true" />
<arg name="enable_logging_imu" default="false" />
<arg name="enable_logging_temperature" default="false" />
<arg name="enable_logging_magnetic_field" default="false" />
<arg name="enable_logging_pressure" default="false" />
<arg name="enable_logging_battery" default="false" />
<arg name="enable_logging_packets" default="false" />

<arg name="nbQuads" default="2" />
<arg name="cfPrefix" default="cf" />
<arg name="uri" default="INADDR_ANY://19950"/>
<arg name="handlerName" default="handler1"/>

<!-- Arguments for first Crazyflie -->
<arg name="tf_prefix_1" default="$(arg cfPrefix)1" />
<arg name="color_prop_front_1" default="Blue" />
<arg name="color_prop_back_1" default="Blue" />
<arg name="x_1" default="1.0" />
<arg name="y_1" default="0.0" />
<arg name="z_1" default="0.03" />

<!-- Arguments for second Crazyflie -->
<arg name="tf_prefix_2" default="$(arg cfPrefix)2" />
<arg name="color_prop_front_2" default="Red" />
<arg name="color_prop_back_2" default="Red" />
<arg name="x_2" default="-1.0" />
<arg name="y_2" default="0.0" />
<arg name="z_2" default="0.03" />

<!-- Some custom blocks for every crazyflie in the environment-->
<rosparam>
genericLogTopics: ["local_position","target_position"]
genericLogTopicFrequencies: [10,10]
genericLogTopic_local_position_Variables: ["stateEstimate.x", "stateEstimate.y", "stateEstimate.z", "stabilizer.roll", "stabilizer.pitch", "stabilizer.yaw"]
genericLogTopic_target_position_Variables: ["posCtl.targetX", "posCtl.targetY", "posCtl.targetZ", "controller.roll", "controller.pitch", "controller.yaw"]
</rosparam>

<!-- The following line causes gzmsg and gzerr messages to be printed to the console
(even when Gazebo is started through roslaunch) -->
<arg name="verbose" default="true"/>

<env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find crazyflie_gazebo)/models"/>
<env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find crazyflie_gazebo)/models"/>

<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find crazyflie_gazebo)/worlds/$(arg world_name).world"/>
<arg name="debug" value="$(arg debug)" />
<arg name="paused" value="$(arg paused)" />
<arg name="gui" value="$(arg gui)" />
<arg name="verbose" value="$(arg verbose)"/>
</include>

<group ns="$(arg cfPrefix)1">
<include file="$(find crazyflie_gazebo)/launch/spawn_mav.launch">
<arg name="mav_name" value="$(arg mav_name)" />
<arg name="model" value="$(find crazyflie_gazebo)/models/rotors_description/urdf/$(arg mav_name)_base.xacro" />
<arg name="tf_prefix" value="$(arg tf_prefix_1)"/>
<arg name="color_prop_front" default="$(arg color_prop_front_1)" />
<arg name="color_prop_back" default="$(arg color_prop_back_1)" />
<arg name="x" default="$(arg x_1)"/>
<arg name="y" default="$(arg y_1)"/>
<arg name="z" default="$(arg z_1)"/>
</include>
</group>

<group ns="$(arg cfPrefix)2">
<include file="$(find crazyflie_gazebo)/launch/spawn_mav.launch">
<arg name="mav_name" value="$(arg mav_name)" />
<arg name="model" value="$(find crazyflie_gazebo)/models/rotors_description/urdf/$(arg mav_name)_base.xacro" />
<arg name="tf_prefix" value="$(arg tf_prefix_2)"/>
<arg name="color_prop_front" default="$(arg color_prop_front_2)" />
<arg name="color_prop_back" default="$(arg color_prop_back_2)" />
<arg name="x" default="$(arg x_2)"/>
<arg name="y" default="$(arg y_2)"/>
<arg name="z" default="$(arg z_2)"/>
</include>
</group>

<group ns="handler1">
<include file="$(find crazyflie_gazebo)/launch/spawn_plugin.launch">
<!--<arg name="handlerName" value="$(arg handerName)" />-->
<arg name="plugin_name" value="$(arg handlerName)" />
<arg name="nbQuads" value="$(arg nbQuads)" />
<arg name="cfPrefix" value="$(arg cfPrefix)" />
<arg name="uri" value="$(arg uri)" />

<arg name="enable_logging" value="$(arg enable_logging)"/>
<arg name="enable_parameters" value="$(arg enable_parameters)"/>
<arg name="use_ros_time" value="$(arg use_ros_time)"/>
<arg name="enable_logging_imu" value="$(arg enable_logging_imu)"/>
<arg name="enable_logging_temperature" value="$(arg enable_logging_temperature)"/>
<arg name="enable_logging_magnetic_field" value="$(arg enable_logging_magnetic_field)"/>
<arg name="enable_logging_pressure" value="$(arg enable_logging_pressure)"/>
<arg name="enable_logging_battery" value="$(arg enable_logging_battery)"/>
<arg name="enable_logging_packets" value="$(arg enable_logging_packets)"/>
</include>
</group>
</launch>
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