• Open directory

cd UAV_Swarm_gazebo/catkin_ws/src/px4_controller/rrt_pruning_smoothing/Code

At first, change the path of working directories. Next, check for the presence of the mission JSON file in coverage_planner/scripts and px4_controller/rrt_pruning_smoothing/Code

• Run bash script (for scenario №1 with coverage path planning). Then, check the path to the mission JSON file in coverage_planner/scripts/initpose.py and px4_controller/rrt_pruning_smoothing/python rrt_(start/reset/land)_test.py

./path_planning_rrt_cpp.sh

As a result 2 files: global_path_interface.txt without smoothing and global_path_interface_smooth.txt with smoothing. These trajectories are already transmitted to the flight controller and to the interface for display on the map.

• Or run python script (for scenario №2 without coverage path planning) At first, change the path of working directories. Next, check for the presence of the mission JSON files(Map2.json, Obs.json, Targets.json) in px4_controller/rrt_pruning_smoothing/Code

python path_planning_rrt.py

As a result 2 files: path_global_scenario2.txt without smoothing and path_global_scenario2_smooth.txt with. These trajectories are already transmitted to the flight controller and to the interface for display on the map.

roslaunch px4 posix_sitl.launch world:=$(pwd)/Tools/sitl_gazebo/worlds/asd.world

• Run the script ../src/px4_controller/rrt-uav/Code/main.py to generate the path.

• To run the simulation run the following command in a new ros terminal.

source ~/src/catkin_ws/devel/setup.bash
rosrun px4_controller position_control.py 

source ~/UAV_Swarm_gazebo/catkin_ws/devel/setup.bash
roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557"

cd UAV_Swarm_gazebo/Autopilot/
DONT_RUN=1 make px4_sitl_default gazebo
source ~/UAV_Swarm_gazebo/catkin_ws/devel/setup.bash    # (optional)
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
roslaunch px4 posix_sitl.launch

• Run parameter listener

source ~/UAV_Swarm_gazebo/catkin_ws/devel/setup.bash  
rosrun px4_controller parameter_listener.py

• Run start and goal point talker

source ~/UAV_Swarm_gazebo/catkin_ws/devel/setup.bash  
rosrun px4_controller start_goal_point_talker.py

• Run obstacles talker You need input:
  • Quantity obstacles
  • Plot limit's
  • Obstacle coordinates and radius

source ~/UAV_Swarm_gazebo/catkin_ws/devel/setup.bash
rosrun px4_controller obstacles_talker.py