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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Ramon Roche
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>
81 lines
2.4 KiB
Python
81 lines
2.4 KiB
Python
"""
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Launch file for the PX4 swarm coordination stack.
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Starts one vision_provider node per drone and a single swarm_controller node.
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Usage:
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ros2 launch swarm_ros2 swarm_launch.py num_drones:=16 speed_factor:=1.0
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"""
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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# Declare launch arguments.
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num_drones_arg = DeclareLaunchArgument(
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'num_drones',
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default_value='16',
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description='Number of drones in the swarm',
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)
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speed_factor_arg = DeclareLaunchArgument(
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'speed_factor',
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default_value='1.0',
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description='Simulation speed factor',
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)
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formation_config_arg = DeclareLaunchArgument(
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'formation_config',
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default_value='',
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description='Path to YAML formation configuration file',
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)
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num_drones = LaunchConfiguration('num_drones')
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speed_factor = LaunchConfiguration('speed_factor')
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# We need a concrete integer to iterate, so we support a fixed max and
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# conditionally launch. ROS 2 launch does not natively support dynamic
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# loops over LaunchConfiguration integers, so we generate nodes for a
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# reasonable upper bound and rely on the controller's num_drones param
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# to limit actual usage. For simplicity, generate exactly 16 nodes
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# (the default). For other counts, users can call this launch file
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# programmatically or adjust the constant below.
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MAX_DRONES = 16
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vision_nodes = []
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for i in range(MAX_DRONES):
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ns = f'px4_{i}'
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vision_nodes.append(
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Node(
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package='swarm_ros2',
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executable='vision_provider',
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name=f'vision_provider_{i}',
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parameters=[{
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'namespace': ns,
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'instance_id': i,
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}],
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output='screen',
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)
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)
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# Single swarm controller.
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controller_node = Node(
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package='swarm_ros2',
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executable='swarm_controller',
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name='swarm_controller',
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parameters=[{
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'num_drones': num_drones,
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'speed_factor': speed_factor,
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}],
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output='screen',
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)
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return LaunchDescription([
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num_drones_arg,
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speed_factor_arg,
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formation_config_arg,
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*vision_nodes,
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controller_node,
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])
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