ctu-mrs / mbzirc_2020_wall_building

Mission control, Visual detection, Estimation, Mapping and Planning for the wall building challenge of the MBZIRC 2020 competition.

MBZIRC 2020 Ch2 - Building a wall with a group of UAVs

Build status

References

https://arxiv.org/abs/2012.05946

Tomas Baca, Robert Penicka, Petr Stepan, Matej Petrlik, Vojtech Spurny, Daniel Hert and Martin Saska,
"Autonomous Cooperative Wall Building by a Team of Unmanned Aerial Vehicles in the MBZIRC 2020 Competition",
https://arxiv.org/abs/2012.05946.

Dependencies

mrs_uav_system

• uav_core
• simulation
• mrs_gazebo_extras_resources

Flexbe

sudo apt install ros-{melodic,noetic}-flexbe-behavior-engine

mbzirc_2020_wall_building's Issues

Wall building simulation

Dear MRS team,

I am trying to run the simulation that you had done for this competition and i cloned it under my_workspace/src but when i run the tmux_sessions it does not work? can anyone help with this?

All dependencies are satisfied and am able to run other simulations under mrs_workspace

Plan_keeper/ service_next_brick_in_plan

Dear Tomas,

Appreciating your feedback earlier. I fixed most of the stuff on flexbe and was able to get it running. However, I am having difficulties understanding how does service_next_brick_in_plan.py - handle providing a different target point location for the drone to drop the brick everytime it iterates through the state. In other words, how do you let the state know that it has used the 1st coordinate target and now needs to use the next coordinate sequence.... i know that this state utilizes the "plan_keeper" rospackage but am not sure how to make it work.

Your feedback would be highly appreciated.

Eliminate noise from gps and other sensors

Dear Tomas,

I was wondering if you can guide me to where i can adjust in the simulation files for noise parameters to allow the drone to navigate to a precise location without any oscillations or errors?

Appreciating your response and feedback.

Update the mrs_lib::geometry interface