MRS Gazebo Simulation

This is the repository for the Multi-Robot Systems (MRS) Gazebo Simulation: To run two UAVs in SITL, they can takeoff, arm and start missions simultaneously using keyboard control. Also, it detects and tracks each other UAVs simultaneously.

System Requirements

Required OS is Ubuntu 18.04 LTS 64-bit (ROS Melodic). The repository are supposed to be compiled by catkin tools.

Dependencies

External dependencies required.

Install the DarkNet ROS and its dependencies from (install in catkin_ws/src folder): https://github.com/leggedrobotics/darknet_ros

Install the XTDrone and its dependencies from (install in home/XTDrone folder): https://www.yuque.com/xtdrone/manual_en/basic_config

Installation

We will assume you have your ROS workspace in the ~/catkin_ws folder link and you have installed all the dependencies (DarkNet ROS and XTDrone).

Software

Clone the repository:

$ cd ~/catkin_ws/src

$ git clone https://github.com/narsimlukemsaram/mrs_gazebo_simulation.git

Copy sub-folders from folder mrs_gazebo_simulation/src to ~/catkin_ws/src

$ cp mrs_gazebo_simulation/src/. to ~/catkin_ws/src

$ cd ..

Compile the software:

$ catkin_make

After successful compilation, follow below steps to execute the simulation:

Terminal 1:

Start roscore

$ roscore

Terminal 2:

Start YOLO/DarkNet ROS on UAV 1, at this point, load the network parameters first, and then wait for the image to arrive.

$ cd ~/catkin_ws

$ source devel/setup.bash

$ roslaunch launch_inference launch_inference_drone_1.launch

Terminal 3:

Start YOLO/DarkNet ROS on UAV 2, at this point, load the network parameters first, and then wait for the image to arrive.

$ cd ~/catkin_ws

$ source devel/setup.bash

$ roslaunch launch_inference launch_inference_drone_2.launch

Terminal 4:

Then start PX4 simulation, at this time YOLO receives the image and starts other UAV detection.

$ cd ~/PX4_Firmware/launch

$ roslaunch px4 darknet_ros_iris_two_drone.launch

Terminal 5:

Then establish UAV 1 communication.

$ cd ~/XTDrone/communication

$ python multirotor_communication.py iris 0

Terminal 6:

Then establish UAV 2 communication.

$ cd ~/XTDrone/communication

$ python multirotor_communication.py iris 1

Terminal 7:

Control UAV 1 takeoff. For multiple UAVs, it is easy for Offboard mode to control it to take off with the expectation of a greater than 0.3 m/s speed in z axis, so you can not use Takeoff mode (v in the keyboard). Press I repeatedly to increase the expected z speed to more than 0.3m/s, then press B to switch to the offboard mode, then press T to unlock and take off. After flying to the appropriate height, press S to achieve hovering.

$ cd ~/XTDrone/control/keyboard

$ python modified_multirotor_keyboard_control.py iris 1 vel 0

Terminal 8:

Control UAV 2 takeoff. For multiple UAVs, it is easy for Offboard mode to control it to take off with the expectation of a greater than 0.3 m/s speed in z axis, so you can not use Takeoff mode (v in the keyboard). Press I repeatedly to increase the expected z speed to more than 0.3m/s, then press B to switch to the offboard mode, then press T to unlock and take off. After flying to the appropriate height, press S to achieve hovering.

$ cd ~/XTDrone/control/keyboard

$ python modified_multirotor_keyboard_control.py iris 1 vel 1