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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-15 23:13:34 +08:00
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>
30 lines
867 B
Python
30 lines
867 B
Python
from setuptools import setup
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import os
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from glob import glob
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package_name = 'swarm_ros2'
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setup(
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name=package_name,
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version='0.1.0',
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packages=[package_name],
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data_files=[
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('share/ament_index/resource_index/packages', ['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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(os.path.join('share', package_name, 'launch'), glob('launch/*.py')),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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maintainer='Ramon Roche',
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maintainer_email='mrpollo@gmail.com',
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description='Swarm coordination for PX4 multi-vehicle simulation',
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license='BSD-3-Clause',
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tests_require=['pytest'],
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entry_points={
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'console_scripts': [
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'vision_provider = swarm_ros2.vision_provider:main',
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'swarm_controller = swarm_ros2.swarm_controller:main',
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],
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},
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)
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