drone_collision_avoiding--ROS2

OS: UBUNTU 22.04

ROS DISTRO: HUMBLE

To launch One drone in gazebo:

In terminal 1:

     ros2 launch my_uavs ign_world_launch.py 

Output:

In terminal 2: Run the ros2 node to run the waypoints for the primary drone:

ros2 run my_uavs drone_controller_d1.py 

This node: takes off the r1 drone, goes forward and then lands.

Now to launch the collision avoidance:

In terminal 1: launch 2 drones in gazebo ignition.

  ros2 launch my_uavs two_ign_world_launch.py 

In terminal 2: launch collision_predictor node:

  ros2 run my_uavs collision_predictor.py 

This runs the collision avoiderlogic, now to test this I have made two test cases:

In case-1: The both drones doesn't collide. In terminal 3:

ros2 launch my_uavs safe_drone_launch.py 

Case-2:

ros2 launch my_uavs drone_contoller.launch.py 

When both the drones collide, our algo detects the proximity of both the drones and then when it crosses then threshold. Drone 2 lands: