Number of drones

[Fatimah-Alahmed]

I would like to ask if the number of robots will be fixed in the final competition or if we should expect variable numbers. Also, I was trying to change the code to have only two drones, I changed _setup.sh(NUM_ROBOT), and disabled the drones in crazyflies_mrs.yaml. but I still get 5 robots in gazebo, is there anything else to change? Thanks

[fpetric]

Hi,

the number of drones will be fixed, probably 5 +- 1.

For the number of flies in gazebo, @marijana23 can confirm but I believe you need to also change (or provide another) the spawn location file (launch/drone_spawn_list/five_example.txt is the default one). The spawn location file is also set in _setup.sh (export SPAWN_POSE_DOC=five_example.txt).

@marijana23 maybe we can change the sitl_multiagent_text.sh to take into account NUM_ROBOT variable when spawning models in Gazebo, similar to how cf_velmux_launch.py does for control?

[marijana23]

Hi,
yes, thank you, that is good idea, I'll open issue with that proposal and adapt things. :)