README.md

Example 4: Drone-convoy example

1A. Launching Aerostack2 components for simulation

For launching the demo, usign Gazebo, we automated the process using tmuxinator. You can run the following command:

tmuxinator start -p aerostack2_gazebo.yaml drone_namespace=drone0,drone1,drone2

1B. Launching Aerostack2 components for crazyflie

For launching the demo using Crazyflie, we automated the process using tmuxinator. You can run the following command:

tmuxinator start -p aerostack2_crazyflie.yaml drone_namespace=drone0,drone1,drone2

2. Launching the ground station utilities

For monitoring the drone status using RViz and send commands to it using Aerostack2 Keyboard Teleoperation, you can run the following command:

tmuxinator start -p ground_station.yaml drone_namespace=drone0,drone1,drone2 use_sim_time=true

Note: If not using Gazebo, set use_sim_time to False.

3. Launching the follow-drone mission

For running the follow-drone mission you can run the following command for launching leader mission:

python3 mission_leader.py

Note: If not using Gazebo, add '-r' flag to the mission scripts to set use_sim_time to False.

4. Stop everything

For stopping the demo you can run the following commands:

./stop.bash