ROS2 Changes Tracker

CMakeLists.txt

@@ -0,0 +1,82 @@
+cmake_minimum_required(VERSION 3.8)
+project(mavswarm2)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+  endif()
+
+
+  # find dependencies
+  find_package(Armadillo REQUIRED)
+  find_package(GSL REQUIRED)
+  find_package(ament_cmake REQUIRED)
+  find_package(rclcpp REQUIRED)
+  find_package(simulator_interfaces REQUIRED)
+  # # find_package(simulator_utils REQUIRED)
+  # # find_package(controller REQUIRED)
+  find_package(std_msgs REQUIRED)
+  # find_package(GSL REQUIRED)
+
+  find_package(geometry_msgs REQUIRED)
+  # find_package(sensor_msgs REQUIRED)
+  find_package(visualization_msgs REQUIRED)
+  find_package(tf2_ros REQUIRED)
+
+
+# add_library(${PROJECT_NAME} SHARED
+#   src/quadrotor.cpp
+# )
+
+add_executable(mavswarm2 src/quadrotor.cpp)
+
+ament_target_dependencies(${PROJECT_NAME}
+    geometry_msgs
+    rclcpp
+    tf2
+    tf2_ros
+    visualization_msgs
+    simulator_interfaces
+
+    # turtlesim
+)
+
+# ament_target_dependencies(mavswarm2  
+# rclcpp
+# geometry_msgs
+# visualization_msgs
+# std_msgs
+# tf2 
+# tf2_ros
+# simulator_interfaces 
+# )
+
+install(
+  TARGETS ${PROJECT_NAME}
+  DESTINATION lib/${PROJECT_NAME}
+)
+install(
+  DIRECTORY launch config
+  DESTINATION share/${PROJECT_NAME}/
+)
+#   # EXPORT ${PROJECT_NAME}
+#   # LIBRARY DESTINATION lib
+#   # ARCHIVE DESTINATION lib
+#   # RUNTIME DESTINATION bin
+#   # INCLUDES DESTINATION include
+# )
+ament_package()
+
+target_link_libraries(mavswarm2
+        GSL::gsl
+        GSL::gslcblas)
+
+# install(
+#   DIRECTORY include/
+#   DESTINATION include
+# )
+
+include_directories(
+        include/${PROJECT_NAME}
+        # include/gcopter
+        # include/misc
+)

config/crazyflie_params.yaml

@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    controller_gains: [1.0, 0.5, 0.015, 0.00075]
+        # kx: 1
+        # kv: 0.5
+        # kr: 0.0015
+        # komega: 0.00075
+
+    model:
+      J: [2.3951e-5, 2.3951e-5, 3.2347e-5]
+      m: 0.032
+      d: 0.08
+      ctf: 0.0037
+      gravity: 9.81
+

config/initial_conditions_2.yaml

@@ -0,0 +1,9 @@
+# define the initial positions of each robot in NWU frame
+# change the initial rotation matrix to [1, 0, 0, 0, 1, 0, 0, 0, 1] for initialing the 
+# drones right side up.
+robot_0:
+  ros__parameters:
+    position: [2.0, 2.0, -2.0]
+    velocity: [0.0, 0.0, 0.0]
+    rotation: [1.0, 0.0, 0.0, 0.0, -0.9995, -0.0314, 0.0, 0.0314, -0.9995]
+    omega: [0.0, 0.0, 0.0]