MUAV

ROS Noetic catkin workspace for multi-UAV formation reshaping, PX4/MAVROS offboard control, and Dynamixel/GPIO actuator integration.

Packages

src/mrs_formation_reshaping: formation reshaping algorithms and ROS services, including CAT-ORA, LSAP, bottleneck assignment, ORCA local planning, and SRCA / sr_curvauction / CHAMP flows.
src/offboard_py: PX4/MAVROS offboard control helpers for single-UAV and multi-UAV trajectory tracking.
src/dxl_ros_node: Dynamixel servo control and Raspberry Pi GPIO relay / electromagnet helpers.

Build

This workspace was developed for Ubuntu 20.04 and ROS Noetic.

cd ~/catkin_ws_1
source /opt/ros/noetic/setup.bash
catkin build
source devel/setup.bash

The mrs_formation_reshaping package depends on mrs_lib and Eigen. For the original CAT-ORA dependency setup, see src/mrs_formation_reshaping/README.md.

Typical Entry Points

roslaunch mrs_formation_reshaping catora.launch
roslaunch mrs_formation_reshaping quad_sim_rviz.launch
roslaunch offboard_py multi_uav_offboard_manager.launch
roslaunch dxl_ros_node dxl.launch

Large generated folders such as build/, devel/, ROS logs, virtual environments, and local secret files are intentionally not tracked.

Name		Name	Last commit message	Last commit date
Latest commit History 1 Commit
catora-master		catora-master
docs		docs
experiments		experiments
src		src
tools/mcp_codex_cli		tools/mcp_codex_cli
wenxian		wenxian
.gitignore		.gitignore
8X20_VERIFICATION_PLAN.md		8X20_VERIFICATION_PLAN.md
APRIL_1ST_COMPLETE_ANALYSIS.md		APRIL_1ST_COMPLETE_ANALYSIS.md
APRIL_1ST_EXPERIMENT_SCENARIO_PARAMS.md		APRIL_1ST_EXPERIMENT_SCENARIO_PARAMS.md
APRIL_1ST_FINDINGS_SUMMARY.md		APRIL_1ST_FINDINGS_SUMMARY.md
APRIL_1ST_QUICK_REFERENCE.md		APRIL_1ST_QUICK_REFERENCE.md
COMPLETE_EXPERIMENT_REPORT.md		COMPLETE_EXPERIMENT_REPORT.md
COMPREHENSIVE_TEST_PROGRESS.md		COMPREHENSIVE_TEST_PROGRESS.md
DELIVERABLES_CHECKLIST.md		DELIVERABLES_CHECKLIST.md
DUAL_EXPAND_FIX_SUMMARY.md		DUAL_EXPAND_FIX_SUMMARY.md
EXPERIMENT_REPORT_3TIGHTNESS_20260410.md		EXPERIMENT_REPORT_3TIGHTNESS_20260410.md
FINAL_ACHIEVEMENTS.txt		FINAL_ACHIEVEMENTS.txt
FINAL_OPTIMIZATION_REPORT.md		FINAL_OPTIMIZATION_REPORT.md
FINAL_SUMMARY.txt		FINAL_SUMMARY.txt
FULL_STAGE_PERF_ANALYSIS.md		FULL_STAGE_PERF_ANALYSIS.md
HYBRID_STRATEGY_COMPLETION_SUMMARY.md		HYBRID_STRATEGY_COMPLETION_SUMMARY.md
HYBRID_STRATEGY_FINAL_REPORT.md		HYBRID_STRATEGY_FINAL_REPORT.md
HYBRID_STRATEGY_IMPLEMENTATION.md		HYBRID_STRATEGY_IMPLEMENTATION.md
IMPLEMENTATION_COMPLETE.md		IMPLEMENTATION_COMPLETE.md
INTERIM_TEST_REPORT.md		INTERIM_TEST_REPORT.md
OPTIMIZATION_COMPLETE_SUMMARY.md		OPTIMIZATION_COMPLETE_SUMMARY.md
OPTIMIZATION_STRATEGY_V2.md		OPTIMIZATION_STRATEGY_V2.md
OPTIMIZATION_V1_FINAL_REPORT.md		OPTIMIZATION_V1_FINAL_REPORT.md
OPTIMIZATION_V2_POSTMORTEM.md		OPTIMIZATION_V2_POSTMORTEM.md
PHASE2_SOFT_THEOREM1_DESIGN.md		PHASE2_SOFT_THEOREM1_DESIGN.md
PHASE3_FALLBACK_STRATEGIES.md		PHASE3_FALLBACK_STRATEGIES.md
PROJECT_COMPLETION_SUMMARY.txt		PROJECT_COMPLETION_SUMMARY.txt
README.md		README.md
REGRESSION_TEST_FINAL_REPORT.md		REGRESSION_TEST_FINAL_REPORT.md
REPAIR_VERIFICATION_COMPLETE.md		REPAIR_VERIFICATION_COMPLETE.md
SRCA_100_PERCENT_STRATEGY.md		SRCA_100_PERCENT_STRATEGY.md
SRCA_ANALYSIS_EXECUTIVE_SUMMARY.md		SRCA_ANALYSIS_EXECUTIVE_SUMMARY.md
SRCA_LAYER_TIMING_ANALYSIS.md		SRCA_LAYER_TIMING_ANALYSIS.md
SRCA_PARAMETERS_ANALYSIS.md		SRCA_PARAMETERS_ANALYSIS.md
SRCA_PARAMETERS_INDEX.md		SRCA_PARAMETERS_INDEX.md
SRCA_PARAMETER_MATRIX.md		SRCA_PARAMETER_MATRIX.md
SRCA_QUICK_REFERENCE.md		SRCA_QUICK_REFERENCE.md
SRCA_V6_FINAL_RESULTS.csv		SRCA_V6_FINAL_RESULTS.csv
STEP0_SCENE_REPLAY_PROTOCOL.md		STEP0_SCENE_REPLAY_PROTOCOL.md
TEST_STATUS_CURRENT.md		TEST_STATUS_CURRENT.md
analyze_comprehensive_8x20.py		analyze_comprehensive_8x20.py
check_test_status.sh		check_test_status.sh
comparison_v1_vs_v2_summary.csv		comparison_v1_vs_v2_summary.csv
dataman		dataman
debug_absol_path.py		debug_absol_path.py
debug_correct.py		debug_correct.py
debug_single_test.py		debug_single_test.py
debug_test.py		debug_test.py
etc		etc
frames.gv		frames.gv
frames.pdf		frames.pdf
generate_performance_charts.py		generate_performance_charts.py
minimal_8n20.py		minimal_8n20.py
monitor_timing_data.py		monitor_timing_data.py
parameters.bson		parameters.bson
parameters_backup.bson		parameters_backup.bson
plot_srca_8x20_performance_comparison.py		plot_srca_8x20_performance_comparison.py
quick_test_phase12.py		quick_test_phase12.py
quick_verify_fix.sh		quick_verify_fix.sh
run_8n20_stable.py		run_8n20_stable.py
run_8n_20_experiment.py		run_8n_20_experiment.py
run_8n_20_fixed.py		run_8n_20_fixed.py
run_8n_20_simple.py		run_8n_20_simple.py
run_performance_benchmark.py		run_performance_benchmark.py
run_v6_test.py		run_v6_test.py
start_mavros_px4.sh		start_mavros_px4.sh
start_offboard_px4.sh		start_offboard_px4.sh
sync_to_pi.sh		sync_to_pi.sh
test_data		test_data
test_default_files.py		test_default_files.py
test_no_autogen.py		test_no_autogen.py
test_service_response_fields.py		test_service_response_fields.py
test_service_startup.py		test_service_startup.py
test_service_startup.sh		test_service_startup.sh
test_srca_spaced_formations.py		test_srca_spaced_formations.py
verify_implementation.py		verify_implementation.py
wait_and_analyze.py		wait_and_analyze.py

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