Bridge inspection with Gazebo simulator

In this project, there are two drones that inspect the surface of a bridge. This mission illustrates how to formulate a mission with multiple drones that perform a tasks that are part of the global mission. Drones also communicate messages between them when they complete their tasks and share their spatial position.

To execute this project, perform the following steps:

• Execute the script that launches Gazebo for this project.

    $ ./launcher_gazebo.sh
  

• Wait until the following window is presented:

• Execute the following script that launches the Aerostack components for this project. As a result of this command, a set of windows are presented to monitor the execution of the mission. These windows include: behavior execution viewers, belief viewers and image of the front camera.

    $ ./main_launcher.sh
  

• Execute the scripts that launch the missions for each drone:

    $ rosservice call /drone111/python_based_mission_interpreter_process/start 
    $ rosservice call /drone112/python_based_mission_interpreter_process/start
  

The mission performs the tasks described in the phyton files configs/mission/mission1.py and configs/mission/mission2.py.

The following video illustrates how to launch the project:

The following video shows the image of the front camera of one of the drones:

The following video shows the content of belief memory viewers and behavior execution viewers during the mission execution. For example, the content of the belief memory viewers illustrate how each drone knows the local position of the other drone and the messages that they receive at the end of the mission when they complete their tasks: