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.
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Gazebo(recomended Gazebo9 or later )
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Install Ros melodic (follow the steps here)
- this installation contain gazebo9 itself no need to install yourself
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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
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clone the latest px4 Firmware (follow the steps here)
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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
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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