quadrotor-simulation-gazebo

Installation (with ros-noetic):

1. Install ROS.

2. Install osqp:

      git clone --recursive [email protected]:oxfordcontrol/osqp
      cd osqp
      mkdir build
      cd build
      cmake ..
      sudo make install

3. Download the project and its submodules (mav_comm and rotors)

      git clone --recursive [email protected]:cimat-ris/quadrotor-simulation-gazebo.git

4. Compile with catkin

      catkin_make_isolated

In case you have a problem with the python3 interpreter not found, you can use:

      catkin_make_isolated -DPYTHON_EXECUTABLE="/usr/bin/python3"

(or whatever your python3 interpreter is)

To run

     source devel_isolated/setup.bash

Launch the Gazebo simulation, the quadrotors should be starting in hovering state:

      roslaunch multi_uav_control multiple_hummingbird.launch

Edit the multi_distributed_control.sh script to use your own path to resources and launch the script:

      sh multi_distributed_control.sh