{"id":16478927,"url":"https://github.com/abhijithganesh/abhiswarming","last_synced_at":"2026-07-19T00:31:57.382Z","repository":{"id":233615795,"uuid":"786649006","full_name":"AbhijithGanesh/abhiswarming","owner":"AbhijithGanesh","description":"ROS-multi-drone","archived":false,"fork":false,"pushed_at":"2024-04-25T08:57:55.000Z","size":34749,"stargazers_count":1,"open_issues_count":0,"forks_count":2,"subscribers_count":1,"default_branch":"ros2","last_synced_at":"2025-01-11T07:33:39.322Z","etag":null,"topics":["ardupilot","drones","gazebo","gazebo-classic","iron","mavproxy","ros-iron","ros-noetic","ros2"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/AbhijithGanesh.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE/Apache-2.0.LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2024-04-15T03:18:35.000Z","updated_at":"2024-11-06T11:19:50.000Z","dependencies_parsed_at":null,"dependency_job_id":"fc9ca8fc-d186-457d-b9a6-2d8148a7c2c6","html_url":"https://github.com/AbhijithGanesh/abhiswarming","commit_stats":null,"previous_names":["abhijithganesh/abhiswarming"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/AbhijithGanesh%2Fabhiswarming","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/AbhijithGanesh%2Fabhiswarming/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/AbhijithGanesh%2Fabhiswarming/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/AbhijithGanesh%2Fabhiswarming/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/AbhijithGanesh","download_url":"https://codeload.github.com/AbhijithGanesh/abhiswarming/tar.gz/refs/heads/ros2","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":241162417,"owners_count":19920398,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["ardupilot","drones","gazebo","gazebo-classic","iron","mavproxy","ros-iron","ros-noetic","ros2"],"created_at":"2024-10-11T12:50:35.377Z","updated_at":"2025-10-19T12:26:15.767Z","avatar_url":"https://github.com/AbhijithGanesh.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Abhiswarming ROS package\n\n\u003e [!NOTE]  \n\u003e Switch to ROS1 branch [here](https://github.com/abhijithGanesh/abhiswarming/tree/ros1)\n\n## Index\n1. [Requirements](#requirements)\n2. [Special Instructions](#special-instructions)\n    - [Add ROSDEP dependencies](#add-rosdep-dependencies)\n    - [Micro-XRCE-DDS-Gen](#micro-xrce-dds-gen)\n    - [ArduPilot Installation](#ardupilot-installation)\n        - [Ardupilot](#ardupilot)\n        - [Ardupilot Plugin](#ardupilot-plugin)\n    - [Special Python3 Link](#special-python3-link)\n    - [ROS2 Check](#ros2-check)\n    - [MAV Proxy](#mav-proxy)\n\n## Requirements \u003ca id=\"requirements\"\u003e\u003c/a\u003e\n\nTo use the Abhiswarming ROS package, ensure you have the following software installed:\n\n1. **MicroXRCE**\n2. **ArduPilot**\n3. **Gazebo8**\n4. **MAVProxy**\n5. **ROS2 - Iron**\n\nThese components are essential for proper functionality. Additionally, clone the following repository into your workspace directory:\n\n```sh\ngit clone https://github.com/micro-ROS/micro-ROS-Agent.git ~/workspace_dir\n```\n\nBefore proceeding, run `colcon build`.\n\n## Special Instructions \u003ca id=\"special-instructions\"\u003e\u003c/a\u003e\n\n### Add ROSDEP dependencies \u003ca id=\"add-rosdep-dependencies\"\u003e\u003c/a\u003e\n\n```sh\ncd ~/ros2_ws\nsource /opt/ros/humble/setup.bash\nsudo apt update\nrosdep update\nrosdep install --from-paths src --ignore-src -r\n```\n\n### Micro-XRCE-DDS-Gen \u003ca id=\"micro-xrce-dds-gen\"\u003e\u003c/a\u003e\n\n**Warning: Ensure JAVA is installed**\nMicroXRCE requires Java to function properly.\n\n```sh\ngit clone --recurse-submodules https://github.com/ardupilot/Micro-XRCE-DDS-Gen.git\ncd Micro-XRCE-DDS-Gen\n./gradlew assemble\n```\n\n### ArduPilot Installation \u003ca id=\"ardupilot-installation\"\u003e\u003c/a\u003e\n\n#### Ardupilot \u003ca id=\"ardupilot\"\u003e\u003c/a\u003e\n\nNavigate to the home directory:\n\n```sh\ncd ~\nsudo apt install git\ngit clone https://github.com/ArduPilot/ardupilot.git\ncd ardupilot\ngit checkout Copter-3.6\ngit submodule update --init --recursive\n```\n\nInstall required dependencies:\n\n```sh\nsudo apt install python-matplotlib python-serial python-wxgtk3.0 python-wxtools python-lxml python-scipy python-opencv ccache gawk python-pip python-pexpect\n```\n\nInstall Python packages:\n\n```sh\nsudo pip install future pymavlink MAVProxy\n```\n\nAppend the following lines to the end of either `~/.bashrc` or `~/.zshrc`:\n\n```sh\nexport PATH=$PATH:$HOME/ardupilot/Tools/autotest\nexport PATH=/usr/lib/ccache:$PATH\n```\n\n#### Ardupilot Plugin \u003ca id=\"ardupilot-plugin\"\u003e\u003c/a\u003e\n\n1. Install required dependencies:\n\n    ```sh\n    sudo apt install libgz-sim8-dev rapidjson-dev\n    ```\n\n2. Set up Gazebo workspace:\n\n    ```sh\n    mkdir -p gz_ws/src \u0026\u0026 cd gz_ws/src\n    git clone https://github.com/ArduPilot/ardupilot_gazebo\n    ```\n\n3. Build ArduPilot Gazebo plugin:\n\n    ```sh\n    export GZ_VERSION=harmonic\n    cd ardupilot_gazebo\n    mkdir build \u0026\u0026 cd build\n    cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo\n    make -j4\n    ```\n\n### Special Python3 Link \u003ca id=\"special-python3-link\"\u003e\u003c/a\u003e\n\nTo ensure ArduPilot functions correctly, create a symbolic link for `python`:\n\n```sh\nln -s /usr/bin/python3 /usr/bin/python\n```\n\nThis command creates a soft link named `python` pointing to `/usr/bin/python3`.\n\n### ROS2 Check \u003ca id=\"ros2-check\"\u003e\u003c/a\u003e\n\n```sh\nsource ~/ros2_ws/install/setup.bash\n# See the node appear in the ROS graph\nros2 node list\n# See which topics are exposed by the node\nros2 node info /ardupilot_dds\n# Echo a topic published from ArduPilot\nros2 topic echo /ap/geopose/filtered\n```\n\n### MAV Proxy \u003ca id=\"mav-proxy\"\u003e\u003c/a\u003e\n\n```sh\nmavproxy.py --console --map --aircraft test --master=:14550\n```\n\nFollowing these instructions will ensure the successful setup and operation of the Abhiswarming ROS package.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fabhijithganesh%2Fabhiswarming","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fabhijithganesh%2Fabhiswarming","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fabhijithganesh%2Fabhiswarming/lists"}