# ORCA

**Repository Path**: dueen1123/orca

## Basic Information

- **Project Name**: ORCA
- **Description**: 无人机间相互避障实测代码
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 2
- **Forks**: 0
- **Created**: 2024-09-03
- **Last Updated**: 2025-08-13

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

仿真运行顺序如下
```bash
roslaunch rvo_ros multi_vehicle.launch
cd ~/catkin_ws_orca/src/orca/scripts
bash multi_vehicle_communication.sh
python hover.py iris 6 vel 
roslaunch rvo_ros rvo_node.launch
./boom.sh
```

实际测试运行如下
```bash
#启动飞机px4飞控
roslaunch mavros px4.launch
#启动lio绝对定位
roslaunch livox_ros_driver2 msg_MID360.launch
roslaunch faster_lio mapping_avia.launch
python ~/catkin_ws_lidar/src/lidar_esti/scripts/lio_transfer.py iris_1
#建立通信，传递相互位置
roslaunch rosbridge_server rosbridge_websocket.launch
rosrun tf2_web_republisher tf2_web_republisher
python3 ~/catkin_ws_lidar/src/lidar_esti/scripts/communication/roslibpy_listener.py
python3 ~/catkin_ws_lidar/src/lidar_esti/scripts/lio2orca.py iris_1
#自动悬停
python ~/catkin_ws_lidar/src/lidar_esti/scripts/communication/cps_multi_communication.py iris 1
python ~/catkin_ws_lidar/src/lidar_esti/scripts/auto_control/cps_hover.py iris 1 vel
#避障
roslaunch rvo_ros rvo_node_true.launch
bash ~/catkin_ws_orca/src/orca/scripts/node_1_true.sh
```



gdb调试
    <node pkg="rvo_ros" type="rvo_node_0" name="rvo_node_0"  output="screen" launch-prefix="xterm -e gdb -ex run --args"/>
    <node pkg="rvo_ros" type="rvo_node_1" name="rvo_node_1"  output="screen" launch-prefix="xterm -e gdb -ex run --args"/>
    <node pkg="rvo_ros" type="rvo_node_2" name="rvo_node_2"  output="screen" launch-prefix="xterm -e gdb -ex run --args"/>
    <node pkg="rvo_ros" type="rvo_node_3" name="rvo_node_3"  output="screen" launch-prefix="xterm -e gdb -ex run --args"/>