This is an implementation of multiple quadrotor capable of mapping the environment and collision avoidance.

To run it first launch the system with:

ro2slaunch full_system_launcher system.launch

To set a position for any of the UAVs use:

rosrun quadrotor_control_system move_drone.py drone_name X Y Z THETA

• drone_name = (UAV_1, UAV_2, ...);
• X = quadrotor x desired position;
• Y = quadrotor y desired position;
• Z = quadrotor z desired position;
• THETA = quadrotor desired orientation.