px4_multi_agent_planning

Setup

• Follow PX4 instructions for ROS 2 setup: https://docs.px4.io/v1.12/en/ros/ros2_comm.html
• git clone https://github.com/Stanford-NavLab/px4_multi_agent_planning.git (clone to ~/px4_ros_com_ros2/src)
• From ~px4_ros_com_ros2: colcon build
• source install/setup.bash

Notes

• Add source ~/px4_ros_com_ros2/install/setup.bash to .bashrc
  • No need to additionally source ROS 2
• May need to make clean before building (source ~/px4_ros_com_ros2/src/px4_ros_com/scripts/clean_all.bash)

Usage

• Run ./startup in order to start Gazebo and spawn and takeoff vehicles in offboard mode (may need to chmod +x for permissions)
• Edit bringup/config/global_params.yaml to change number of vehicles, spawn locations, goal positions, etc.
• Run ros2 launch bringup multi.launch.py ns:=iris_X from ~/px4_ros_com_ros2 where X is agent index starting from 0 to start multi-agent planner
• Once planners for all agents are up, run ros2 topic pub -r 10 /simulation_start std_msgs/msg/Bool "data: True" to send the start signal and start the planners