SWARMz4: Drone and Ship Battle Challenge

Description

SWARMz4 is a workspace for a drone and ship battle challenge in a Gazebo simulation. This repository provides scripts to install the necessary tools and dependencies to run the simulation and control the drones.

Features

• Gazebo simulation environment for drone and ship battles
• Integration with PX4, ROS2, and QGroundControl
• Custom ROS2 packages for game management
• Example packages for drone control

Installation

To install the project, follow these steps:

1. Clone the repository:

   git clone https://github.com/duy12i1i7/SWARMz4.git

2. Navigate to the project directory:

   cd SWARMz4

3. Run the installation script:

   ./install_scripts/install_swarmz.sh

4. Build the ROS2 workspace

   cd ros2_ws
   colcon build && source install/setup.bash

5. Download dependencies

   cd ros2_ws && source install/setup.bash
   ros2 launch vrx_gz vrx_environment.launch.py world:=nbpark

   If the environment is showed on Gazebo, the download process is complete.

Usage

To run a game, you need to start the Gazebo simulation with the appropriate number of robots. The SWARMz4 challenge makes two teams of 5 drones and 1 flagship fight each other over a 500 x 250 m field.

Starting the Simulation

1. Run the launch script:

   source ros2_ws/install/setup.bash
   ./launch_scripts/launch_simulation.sh [HEADLESS] [NUM_DRONES_PER_TEAM] [FIELD_LENGTH] [FIELD_WIDTH] [WORLD] [NUM_SHIPS_PER_TEAM]

   • HEADLESS: Set to 1 for headless mode (default), 0 for GUI mode.
   • NUM_DRONES_PER_TEAM: Number of drones per team (default is 5).
   • FIELD_LENGTH: Length of the field in meters (default is 500).
   • FIELD_WIDTH: Width of the field in meters (default is 250).
   • WORLD: Name of the Gazebo world to use (default is nbpark).
   • NUM_SHIPS_PER_TEAM: Number of ships per team (default is 1).

2. Start a game by running the game master launcher in a different terminal:

   cd SWARMz4/ros2_ws
   source install/setup.bash
   ros2 launch game_master game_master.launch.py

3. To rotate the cannon and fire the rocket, launching it in the different terminal:

   cd SWARMz4/
   source ros2_ws/install/setup.bash
   python3 launch_scripts/cannon.py [SOURCE] [TARGET_YAW] [TARGET_PITCH]

   With:

   • SOURCE: Represents the warship
   • TARGET_YAW: Represents the gun muzzle's vertical rotation angle, spanning from –π/2 to π/2.
   • TARGET_PITCH: the rotation angle of the gun BASE, ranging from 0 to 2π.

   Or use this topic:

   source ros2_ws/install/setup.bash
   ros2 topic pub /flag_ship_1/cannon_control cannon_msgs/msg/CannonControl "{target_yaw: 0.5, target_pitch: 1.57}"

4. To control any of warship, you can test engines by publishing a topic to one or both of the thrusters:

ros2 topic pub /model/{Name_of_warship}/joint/left_engine_propeller_joint/cmd_thrust std_msgs/msg/Float64 "data: 150"

using this command you should see your boat going in circles.

For more details, read the Answers.md