The end goal of this project is to create a ROS2 package for 3D SLAM with decentralized autonomous drone swarm (point-cloud based, potentially multi-sensors ex: thermal).
The project is divided between severals "modules" :
- Zawardo_drone : Docker environement for coding, test and simulation
- Vox_drone : Python module. Experiment voxel maps possibilities
- Antikythera : ROS package. SLAM algoritm
The purpose of the zawardo_drone module is to create a docker environement for drone swarm simulation. The environement include :
- Gazebo Harmonic
- ROS2 Humble
- Ardupilot
- SITL (Ardupilot Software In The Loop)
- Ardupilot ROS2 and Gazebo bridge
- QGRoundControl
- MAVPROXY
And some other tools like :
- terminator
- vim
- nano
- git
https://ardupilot.org/dev/docs/ros2-sitl.html
Vox drone was a data structure test to adress the problem of the map exchange between the drones, using mostly voxels and FFT. This module isn't actively developed anymore, until I have to deal with this problem with other modules.
Open3D Library : https://www.open3d.org/docs/release/index.html
Ardupilot : https://ardupilot.org/dev/index.html