This repository contains an implementation of an algorithm to generate coordinated drone trajectories avoinding collisions and optimizing time. It runs on simulated and real Crazyflie drones.

Make sure you have Ubuntu 16 installed.

First create a workspace folder and clone this repository (Installation scripts require it to be this exact directory).

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/asilvaigor/psc.git

Next install ROS and create a ROS workspace by running:

cd ~/catkin_ws/src/psc/configuration/
./install_ros.sh

Then run:

./install_crazyflie.sh
./configure_usb.sh

Download and buid mesh_generator repository:

./install_mesh_generator.sh

Update current shell:

source ~/.bashrc

roslaunch psc agent.launch

If this doesn't work, try using a new terminal shell.

Open the project on ~/catkin_ws/src/psc folder. To configure python paths inside pycharm, go on File>Settings>Project>Project Interpreter. Make sure you select python2.7 (/usr/bin/python2.7). Click on the gear button, then "Show All". Select the last button (tree), than add a path to catkin_ws/src/sim_cf/crazyflie_gazebo/tools and one to catkin_ws/src/psc/src/.