This repository provides a simple code to which connects to ArduPilot SITL via MAVROS, and publishes specified waypoints for the drone to move there. This is meant to provide a quick start, and to be built upon on the requirements for the given problem statement.
This repository has two packages:
- For a single drone
- For a swarm of drones (upto 11)
The instructions for running the above are mentioned in the respective README(s) in their subdirectory.
- Much of the code is a simplified version of iq_sim and iq_gnc. Some of the parts are directly taken.
- ArduPilot Gazebo Iris Integration (with Camera). The models have been directly used from this source.