Fast-Capture

Multi-UAV Cooperative Target Estimation and Capture in Dense Environments

Video Links: simulation experiment, indoor experiment or outdoor experiment

---

Build and Install

Dependencies

• Ubuntu 20.04
• ROS 1

1. Prepare

Our software is developed and tested in Ubuntu 20.04. It is recommended to use Yu Xiang shredded pork to install ROS1.

wget http://fishros.com/install -O fishros && . fishros

Step 1

Install various dependencies

sudo apt-get install libarmadillo-dev
sudo apt-get install libompl-dev
sudo apt-get install gfortran
sudo apt-get install doxygen

Step 2

Get a copy of MA27 from the HSL Archive. Just select the Personal Licence (allows use without redistribution), then fill the information table.

​Then you can download it from an e-mail sent to you. Next, un-zip MA27, and follow the README in it, install it to your Ubuntu.

Actually, you only need to type 3 commands in MA27's folder to finish the installation.

./configure
make
sudo make install

Manually un-zip packages OOQP.zip in the repo and install it to your Ubuntu.

As above, you can just type 3 commands in OOQP's folder :

./configure
make 
sudo make install

Step 3

Download Boost 1.65.1 here Boost 1.65.1, and after extracting, enter the folder:

cd boost_1_65_1
./bootstrap.sh --prefix=/usr/local
sudo ./b2 install

Verify Installation:

ls /usr/local/lib | grep libboost_system

Step 4

You can create an empty new workspace and clone this repository to your workspace:

cd ~/your_catkin_ws/src
git clone https://github.com/SWUST-ICAA/Fast-Capture.git
cd ..

Then, compile it.

catkin_make

Step 5

source devel/setup.bash
./roundup_simulation

Then you can follow the gif below to enjoy it.