Airsim HLQR Simulator

This repository contains an HLQR simulator based on Airsim. The current settings.json file prepares a simulation with 10 agents, 2 targets, and 1 camera drone at 1/10 real time. It should be executed in the Africa environment.

Current Structure

The airsim_ros_cntrl package is structured in the following way

• Drone.py: A Basic Drone in the airsim simulator
• Agent.py: An agent drone as apart of a team
• Team.py: Defines a team of drones
• Target.py: A simulated target for the agents to track
• Run_Sim.py: Sets up teams and starts tracking
• Camera.py: Path controlled camera drone

Build Procedures

AirsimRos Depends on the following dependencies

• ROS Melodic(Python3)/Noetic
• Python: pymap3d, pycallgraph, control, numpy, scipy, matplotlib
• In addition, the airsim python client needs to be installed by navigating to ./Airsim/PythonClient and running pip3 install .

To build run catkin_make in the catkin_ws

Launch Procedures

roscd airsim_ros_cntrl/scripts
roslaunch airsim_ros_pkgs airsim_node.launch host:=<ip> publish_clock:=True &
./run_sim.py