Check Formation03 and Formation04

Robotic-Park-Lab · Mar 31, 2024 · 7fa3f6a · 7fa3f6a
1 parent e3866a0
commit 7fa3f6a
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Showing 8 changed files with 1,699 additions and 158 deletions.
diff --git a/roboticpark_config/resources/Crazyflie_DemoCircle.yaml b/roboticpark_config/resources/Crazyflie_DemoCircle.yaml
@@ -115,6 +115,7 @@ Robots:
       role: consensus
       type: distance
       relationship: empty
+
 Supervisor:
   enable: False
   node: 

diff --git a/roboticpark_config/resources/Crazyflie_DemoFormation03.yaml b/roboticpark_config/resources/Crazyflie_DemoFormation03.yaml
@@ -72,7 +72,7 @@ Robots:
         co: 0.01
         ai: 0.0
     communication:
-      type: Continuous
+      type: EventBased
       threshold:
         type: Constant
         co: 0.01
@@ -98,7 +98,7 @@ Robots:
       T: 20
     mars_data:
       enable: True
-      T: 50
+      T: 100
     task: 
       enable: True
       T: 100
@@ -109,7 +109,7 @@ Robots:
         period: 0.1
         upperLimit: 0.1
         lowerLimit: -0.1
-        gain: 0.05
+        gain: 0.1
         threshold:
             type: Constant
             co: 0.01
@@ -124,7 +124,7 @@ Robots:
     control_mode: HighLevel
     positioning: Intern
     pose: 1.5, -1.0, 0.70
-    uri: radio://0/80/2M/E7E7E7E702
+    uri: radio://0/80/2M/E7E7E7E703
     controller:
       type: pid
       enable: True
@@ -135,7 +135,7 @@ Robots:
         co: 0.01
         ai: 0.0
     communication:
-      type: Continuous
+      type: EventBased
       threshold:
         type: Constant
         co: 0.01
@@ -161,7 +161,7 @@ Robots:
       T: 20
     mars_data:
       enable: True
-      T: 50
+      T: 100
     task: 
       enable: True
       T: 100
@@ -172,7 +172,7 @@ Robots:
         period: 0.1
         upperLimit: 0.1
         lowerLimit: -0.1
-        gain: 0.05
+        gain: 0.1
         threshold:
             type: Constant
             co: 0.01
@@ -187,7 +187,7 @@ Robots:
     control_mode: HighLevel
     positioning: Intern
     pose: -1.06, -1.0, 0.70
-    uri: radio://0/80/2M/E7E7E7E703
+    uri: radio://0/80/2M/E7E7E7E706
     controller:
       type: pid
       enable: True
@@ -198,7 +198,7 @@ Robots:
         co: 0.01
         ai: 0.0
     communication:
-      type: Continuous
+      type: EventBased
       threshold:
         type: Constant
         co: 0.01
@@ -224,7 +224,7 @@ Robots:
       T: 20
     mars_data:
       enable: True
-      T: 50
+      T: 100
     task: 
       enable: True
       T: 100
@@ -235,7 +235,7 @@ Robots:
         period: 0.1
         upperLimit: 0.1
         lowerLimit: -0.1
-        gain: 0.05
+        gain: 0.1
         threshold:
             type: Constant
             co: 0.01
@@ -250,7 +250,7 @@ Supervisor:
     executable: supervisor_node
     name: supervisor
     pkg: mars_supervisor_pkg
-    file: Crazyflie_DemoFormation03_topics.yaml
+    file: Crazyflie_DemoFormation_topics.yaml
 
 Other:
   Agent00:

diff --git a/roboticpark_config/resources/Crazyflie_DemoFormation03_Offboard.yaml b/roboticpark_config/resources/Crazyflie_DemoFormation03_Offboard.yaml
@@ -72,7 +72,7 @@ Robots:
         co: 0.01
         ai: 0.0
     communication:
-      type: Continuous
+      type: EventBased
       threshold:
         type: Constant
         co: 0.01
@@ -98,7 +98,7 @@ Robots:
       T: 20
     mars_data:
       enable: True
-      T: 50
+      T: 100
     task: 
       enable: True
       T: 100
@@ -109,7 +109,7 @@ Robots:
         period: 0.1
         upperLimit: 0.1
         lowerLimit: -0.1
-        gain: 0.05
+        gain: 0.1
         threshold:
             type: Constant
             co: 0.01
@@ -124,7 +124,7 @@ Robots:
     control_mode: HighLevel
     positioning: Intern
     pose: 1.5, -1.0, 0.70
-    uri: radio://0/80/2M/E7E7E7E702
+    uri: radio://0/80/2M/E7E7E7E703
     controller:
       type: pid
       enable: True
@@ -135,7 +135,7 @@ Robots:
         co: 0.01
         ai: 0.0
     communication:
-      type: Continuous
+      type: EventBased
       threshold:
         type: Constant
         co: 0.01
@@ -161,7 +161,7 @@ Robots:
       T: 20
     mars_data:
       enable: True
-      T: 50
+      T: 100
     task: 
       enable: True
       T: 100
@@ -172,7 +172,7 @@ Robots:
         period: 0.1
         upperLimit: 0.1
         lowerLimit: -0.1
-        gain: 0.05
+        gain: 0.1
         threshold:
             type: Constant
             co: 0.01
@@ -187,7 +187,7 @@ Robots:
     control_mode: HighLevel
     positioning: Intern
     pose: -1.06, -1.0, 0.70
-    uri: radio://0/80/2M/E7E7E7E703
+    uri: radio://0/80/2M/E7E7E7E706
     controller:
       type: pid
       enable: True
@@ -198,7 +198,7 @@ Robots:
         co: 0.01
         ai: 0.0
     communication:
-      type: Continuous
+      type: EventBased
       threshold:
         type: Constant
         co: 0.01
@@ -224,7 +224,7 @@ Robots:
       T: 20
     mars_data:
       enable: True
-      T: 50
+      T: 100
     task: 
       enable: True
       T: 100
@@ -235,7 +235,7 @@ Robots:
         period: 0.1
         upperLimit: 0.1
         lowerLimit: -0.1
-        gain: 0.05
+        gain: 0.1
         threshold:
             type: Constant
             co: 0.01
@@ -250,7 +250,7 @@ Supervisor:
     executable: supervisor_node
     name: supervisor
     pkg: mars_supervisor_pkg
-    file: Crazyflie_DemoFormation03_topics.yaml
+    file: Crazyflie_DemoFormation_topics.yaml
 
 Other:
   Agent00: