UAV swarm system for SAR missions

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UAV swarm system project is developed to solve problems in SAR missions after disasters such as: typhoon, hurricane, landslide...

How to install and run the project

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This section provides a list of prerequisites for this project as well as instructions on running it.

Hardware requirements:

Ubuntu 20.04 with minimum of 16GB RAM and 60GB available ROM, and external GPU (optional)

Required tools and packages:

0. Miniconda

bash cmd/setup_miniconda.sh

1. OpenCV:

bash cmd/setup_opencv.sh

2. Gazebo ROS:

Follow this instruction to install ROS: Install ROS Noetic. Install ROS Foxy

Then, to install Gazebo 9

-Check if gazebo is installed:

gazebo

3. PX4-Autopilot

bash cmd/setup_px4.sh

You can check the result by running the following command in your bash shell:

dependencies/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_multiple_run.sh -n 6 -m iris

4. MavSDK Python

bash cmd/setup_mavsdk.sh

5. MavLink Router

bash cmd/setup_mavrouter.sh

6. QT5

bash cmd/setup_qt.sh

7. QGroundControl Ground Control Station (Optional)

8. Create a conda environment from the environment.yml file:

conda create --file environment.yml

Run the program

1. Run all (Desktop app, Gazebo):

python src/main.py

2. Run only the desktop app

python src/app.py

Debug

1. Check opening UCP/TCP ports TCP

    netstat -ltnp

UDP

    netstat -lunp

UARTs

     ls /dev/tty*