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63cec47786
ROS 2 package for coordinating PX4 SIH multi-drone swarm missions via XRCE-DDS. Includes: - swarm_controller.py: orchestrates N drones through 6 phases (EV lock, arm/takeoff, grid hold, circle transition, circle hold, kamikaze dive) with DDS cross-talk filtering for multi-instance XRCE-DDS setups - vision_provider.py: publishes noisy VehicleOdometry from ground truth for EKF2 external vision fusion (placeholder for non-GPS) - swarm_launch.py: ROS 2 launch file for N vision providers + controller - run_swarm.sh: Docker entrypoint that launches PX4 instances, XRCE-DDS agent, and ROS 2 nodes - Dockerfile + build_docker.sh: containerized build with ROS 2 Jazzy, px4_msgs from PX4 source, and the swarm package Validated with 4 drones: all phases complete, 4/4 impacts, ULogs generated per instance (~16 MB each). Signed-off-by: Ramon Roche <mrpollo@gmail.com>