# offbroad

**Repository Path**: abcheng/offbroad

## Basic Information

- **Project Name**: offbroad
- **Description**: No description available
- **Primary Language**: C++
- **License**: GPL-3.0
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-03-20
- **Last Updated**: 2022-02-27

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# offboard_multi

基于PX4开源代码，实现多无人机，无人船和水下机器人的多平台协同编队，避碰，队形保持等功能。分为gazebo仿真和实际飞行部分。

代码分为PX4-Firmware 部分和offboard两部分，PX4-Firmware为飞控自驾仪，offboard为无人机上层控制系统，Firmware将无人机位姿信息发送给offboard，由offboard实现编队各项功能。

环境：

1. ubuntu16.04, ROS
2. Firmware: https://github.com/guduzhe123/Firmware branch: 1.8.0-github
3. offboard: branch master
4. mavros: https://github.com/mavlink/mavros/blob/master/mavros/README.md#installation
5. cmake version: > 3.8 https://zhuanlan.zhihu.com/p/93480024
6. eigen version 3.3.8 官网下载 mkdir build && cd build cmake .. & sudo make install
    在/usr/local/include里有eigen3
7. 安装cuda https://blog.csdn.net/qq_25241325/article/details/90753830 注意要在bashrc或zshrc设置环境, 检测 nvcc --version

目前支持的编队方式：1uav-1usv, 2uavs, 4uavs, 4uavs-3usvs,4uavs-3usvs-3uuvs

## **1uav-1usv**

一架无人机和一艘无人船的编队。视频地址videos/1uav-1usv.mkv

<p align="center">
  <img src="videos/1uav-1usv.gif" width = "420" height = "237"/>
<!-- </p> -->


```
roslaunch offboard 1UAV_1USV_sim.launch 
```

关于PX4 ROS开发请看：https://dev.px4.cc/master/en/simulation/ros_interface.html， 注意PX4版本，本仿真是在1.8.0基础上开发。

地面站控制指令如下图：控制无人机和无人船的起飞和运行。

教程：https://blog.csdn.net/weixin_38416696/article/details/79435826

![Screenshot from 2020-05-26 05-56-49](videos/Screenshot from 2020-05-26 05-56-49.png)

## **2uavs**

两架无人机编队，实现队形保持，避碰等功能。视频地址：videos/2uavs.mkv

```
roslaunch offboard 2UAV_sim.launch 
```

<p align="center">
  <img src="videos/2uavs.gif" width = "420" height = "237"/>
<!-- </p> -->


## 6. Licence

The source code is released under [GPLv3](http://www.gnu.org/licenses/) license.