Package Summary

Tags No category tags.
Version 1.3.0
License Apache License 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/cpswarm/swarm_behaviors.git
VCS Type git
VCS Version noetic-devel
Last Updated 2022-04-06
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A package that provides flocking related functionalities.

Additional Links

Maintainers

  • Micha Sende
  • Micha Sende

Authors

No additional authors.

swarm_behaviors_flocking

Build Status

This package provides functionalities for flocking and formation flight. It is a library package of the swarm behaviors library.

Dependencies

This package depends on the following message definitions: * geometry_msgs * cpswarm_msgs

The following library packages of the swarm behaviors library are required: * position * velocity

The following packages of the swarm functions library are required: * kinematics_exchanger

The following packages of the sensing and actuation library are required: * area_provider

Further required packages are: * roscpp

Libraries

flocking

The flocking library provides functionalities for flocking and formation flight. It calculates the required velocity for a CPS to either stay in a flock or to create a specific formation with a swarm of CPSs.

Subscribed Topics

Services Called

Parameters

  • ~loop_rate (real, default: 5.0) The frequency in Hz at which to run the control loops.
  • ~queue_size (integer, default: 1) The size of the message queue used for publishing and subscribing to topics.
  • ~start_delay (real, default: 1.0) The Time in seconds to wait during startup for other CPSs.
  • ~equi_dist (real, default: 10.0) Equilibrium distance between CPSs in meter.
  • ~repulse_spring (real, default: 1.0) Repulsion spring constant of half-spring per square second.
  • ~repulse_max (real, default: 1.0) Maximum repulsion between CPSs in meter in order to avoid over excitation.
  • ~align_frict (real, default: 20.0) Velocity alignment viscous friction coefficient in square meter per second. Higher values result in slower but more stable flocks.
  • ~align_slope (real, default: 1.0) Constant slope around equilibrium distance in meter.
  • ~align_min (real, default: 1.0) Minimum alignment between CPS in meter in order to avoid over excitation.
  • ~wall_frict (real, default: 20.0) Bounding area viscous friction coefficient in square meter per second.
  • ~wall_decay (real, default: 1.0) Softness of wall as decay width in meter.
  • ~accel_time (real, default: 1.0) Characteristic time needed by the CPS to reach the target velocity in seconds.
  • ~flocking/flock_vel (real, default: 0.5) Target velocity of the flock in meter per second.
  • ~formation/formation (string) The type of formation to create. Can be grid, ring, or line.
  • ~formation/form_vel (real, default: 0.5) Maximum velocity during formation flight in meter per second.
  • ~formation/form_shape (real, default: 1.0) Strength of the shape forming velocity component in formation flight.
  • ~formation/form_track (real, default: 1.0) Strength of the tracking velocity component in formation flight.
  • ~formation/form_decay (real, default: 1.0) Softness of shape in meter.

Code API

swarm_behaviors_flocking package code API documentation

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged swarm_behaviors_flocking at answers.ros.org