I'm doing my thesis project about the formation of three Crazyflie drones. I have the loco positioning system.
For now I made the model in Simulink, with three different controllers: LQGI, LQT and PID and I wrote an algorithm that allows three drones to fly with the same trajectory without any clash. Now I would like to do the same things, but in the practice. I would like to combine the environment of Simulink with ROS, but I really don't know where I should start.
1) First of all I would like to know if ROS can allow me to comunicate with Crazyflie from Simulink and if yes, which are the steps to install it? Should I install ROS in both environments?
2) Is there a way to put the controllers that I made on Simulink in the Crazyflie without C++ code?
3) If not, what is the best way to control the Crazyflie with PID or with LQT controller and make a swarm algorithm?
4) Also I tried the command "rosinit" in MATLAB, but it gives me the following error. Must I use a bridged network to use ROS?
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'Cannot connect to ROS master at http://172.30.152.10:11311. Check the specified address or hostname.'
Thank you for the patience