col-trans

Simulation

Initial setup

cd crazyflie-firmware
make cf2_defconfig
make bindings_python
cd ..
mkdir sim/output

Simulation

python3 simulate.py cfg/rig (or pm)/10uavs.yaml --plot (if you do not want a plot, remove --plot)

Use Python controller

(Make sure config/2uavs.yaml uses 'lee' as controller)

cd sim
export PYTHONPATH=$PWD/controllers
python3 controller.py test

Use Firmware controller

(Make sure config/3uavs.yaml uses 'lee_firmware' as controller)

cd sim
export PYTHONPATH=$PWD/../crazyflie-firmware
python3 controller.py test

Visualization

python3 vis.py --uavs 3 --load rig (or pm)

osqp demo

regenerate the workspace: given number of uavs and payload type.

it will automatically be added to the crazyflie-firmware

cd osqp
python3 gen_qp_code.py --uavs 4 --mass point (or rigid)

Whiskers plots

set the cores you want from the script python3 qps_plot.py Note that we have a bunch of custom changes to support floating point arithmetic (rather than double). On the example, this increases speed from 2ms -> 300us. So don't blindly overwrite the files, but use git to track the changes.

firmware

osqp/cffirmware_osqp
make

Note that this uses a simple out-of-source-build. All submodules need to recursively updated (git submodule update --init --recursive).

ROS2 Package

Use a symlink to your ROS2 workspace

ln -s <path-to>/col-trans/coltrans_ros <path-to>/ros2_workspace/src