The ROS package to control the swarm of robots on the base px4 with data transmission through Rosbridge.

Enables monitoring of the status of drones. The operation modes and setting of initial parameters.

rosrun swarm_server swarm_server.py

roslaunch swarm_contol swarm_contol.launch

Allows you to control a group of a given formation through RVIZ. Available supervisory control of group with avoiding system based on potential field.

1. In swarm_contol.launch set the maximum speed of movement of the group.

2. In ../param/config.yaml edit formation params of group.

1. Install from apt
   sudo apt install python-websocket ros-$ROS_DISTRO-rospy-message-converter
2. install WebsocketROSClientPython

• rc_car (for rc_car_ros)
• px4_drone (for a private project)