Hardware

Software

• configure a PC/laptop as ROS msater

• Configure all ODROID to connect to the ROS_MASTER_URI

• collect the zero-GPS point (lower-left point of the grid) and the East point. Modify the grid_corner_Po and grid_corner_PE parameters in the dlp/config/problem_setup_outdoor.yaml accordingly.

• Run roscore on the master PC

• Each defender's ODROID runs

roslaunch dlp defender_mavros.launch id:=0

adjust the id:=0 paramter according to the defender number in the team. Numbering starts from 0.

• On the attacker's ODROID, run

roslaunch dlp attacker_mavros_offboard_joystick.launch id:=0

• On the master PC, run the supervisory node

roslaunch dlp master_gps_outdoor.launch

• On the master PC, connect a joystick and give privileges, see this wiki

• On the master PC, run the joystick node

roslaunch dlp joystick_outdoor.launch id:=1

NOTE id:=1 corresponds to attacker number which to be controlled, Counter starts from 1.