ros_pybullet_drones

A ROS package containing a multi-drone gym environment gym_bullet_drones based on PyBullet

Requirements and Installation

Our custom multi-drone env is built on gym-pybullet-drones module.

• For installing gym-pybullet-drones module, please follow https://github.com/utiasDSL/gym-pybullet-drones
• For installing our custom multi-drone gym environment

  cd ./gym_bullet_drones
  pip install -e .
  

• For installing 3D navigation goal tool plugin in rviz, please refer to https://github.com/BruceChanJianLe/rviz-3d-nav-goal-tool

Usage

To run simple test of gym_bullet_drones

roslaunch ros_pybullet_drones run.launch

To run gym_bullet_drones with a simple flocking controller based on Boids rules

roslaunch ros_pybullet_drones run.launch use_flocking_controller:=true

• additional arguments
  • set use_bullet_gui=true to use bullet gui
  • set num_drones to specify the number of drones, default number is 10