A collection of ROS packages for simulating and deploying mobile wireless infrastructure on demand.

These instructions assume ROS has been installed and sourced in the current terminal. For more information on how to accomplish that visit the ROS wiki. These packages have been thoroughly tested with ROS Kinetic but should work with newer versions as well. Most of the simulation examples are designed to run without PX4 software-in-the-loop (SITL) emulation which adds significant computational overhead and is known to be unstable when the simulation does not run in real time.

Make a new catkin workspace and clone the repo:

mkdir -p ~/ws_catkin/src
cd ~/ws_catkin/src
git clone -b devel [email protected]:alelab-upenn/infrastructure-on-demand.git

From the source directory, ensure all build dependencies are satisfied by running:

rosdep install -i -y --from-paths .
sudo apt-get install python-catkin-tools

Initialize the workspace and build it with catkin tools:

cd ~/ws_catkin
catkin init
catkin config --extend /opt/ros/<your-distro>
catkin build

Launch one of the simulation scenarios:

source devel/setup.bash
roslaunch intel_aero_demos 3_task_1_network.launch margin:=0.05

You should see an rviz window pop up showing 3 (task) quadrotors in a triangle formation and 1 (network) quadrotor in the interior. After the nodes have initialized the network quadrotor takes off and positions itself at the center of the triangle, the optimal configuration for this scenario. A margin of 0.05 has been manually specified on command line as a single network agent is unable to deliver the default margin of 0.15 set in the launch file.