Hello sir, I would like to ask you about the error that is reported after starting the launch file, which shows that the drone formation is not possible.

[lgl-960709]

Look forward to your guidance

[burkap]

It seems that the scipy Python module is not available on your computer. Try to download the package with pip install scipy or pip2 install scipy depending on your Python version.

[lgl-960709]

Hello sir, can I read your paper on this code. Thank you very much.

[kc52]

Hello, When trying to launh the source code, the simulation starting but there is no action on gazebo. why this error occuring ?

[kc52]

could you pls share your email or any contact information ?

[burkap]

@lgl-960709 Sorry for the late response, this project is mostly based on the paper "Decentralized Formation Control of a Swarm of Quadrotor Helicopters" Also, I want to remind you that this codebase is not ready to use, it is just a proof of concept.

@kc52 I'm not sure what the problem is but it might be related to missing packages. Please try the instructions below.

In the event that the simulation does not start, the problem may be related to Gazebo and missing packages. Therefore, run the following commands.

$ sudo apt-get remove ros-melodic-gazebo* gazebo*
$ sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
$ wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
$ sudo apt-get update
$ sudo apt-get install gazebo9 gazebo9-* ros-melodic-gazebo-*
$ sudo apt upgrade

[kc52]

THANK YOU for your valuable and fast response. On the other hand, can we realize this formation via different quadrotor for example: iris or hector ?

[burkap]

Yes, the logic behind the formation control is unrelated to the agent. You can use any quadrotor if you have the controller available for velocity or position.