A simulator desigened for quadrotor swarm motion planning methods. If you have any questions, please ask in the "issues" section.
This repository mainly contains the following modules:
(1) uav_simulator:Quadrotor swarm simulator.
Tested environment: Ubuntu 20.04 + ROS Noetic
1.Download and compile the repo
mkdir -p water_swarm_ws/src
cd water_swarm_ws/src
git clone https://github.com/SmartGroupSystems/Swarm-Simulator.git
cd ..
catkin_make
2.Test
cd water_swarm_ws/
source devel/setup.bash
cd src/Swarm-Simulator
./multi_quadrotor_simulator.sh 16
Then you can see a uav swarm like this:
Every uav has it's own control loop, you can use rqt_graph to see the framework.
If you want to change the number of the uav, just change like this:
./multi_quadrotor_simulator.sh 25
./multi_quadrotor_simulator.sh 34
./multi_quadrotor_simulator.sh 100
Then you can see a swarm like this:
Note that in RVIZ we only display 100 uav. If you want to add more, please add the display module in RVIZ
