Controlling each UAV separately in a UCTF project
I have a multiple UAV launched in Gazebo world using the UCTF project which launch two groups of gold and blue colors which compete against each other in a game cube and grass pitch in the Gazebo world. The main goal is to implement path planning algorithm for autonomous collision avoidance.
After spawning both blue team and gold team e.g spawn_blue 5 10 & e.g spawn_gold 15 19 in a terminal. In attempt to understand the system I did the following a) I attempted to get control over one UAV in a team e.g iris_5 in blue team. b) Give the UAV position coordinates to follow in ros waypoint navigation c) Inspected each team control script, control_team_blue and control_team_gold to understand how to controlling team behavior.
Therefore I would like to ask for help to understand the following questions:
- In summary how does the UCTF game concept function?
- How can I find the publisher for each UAV for the mavros topics : mavros/state and /mavros/global_position/global e.g /iris_5/mavros/state and /iris_5/mavros/global_position/global?
- How can I send waypoints to a UAV separately e.g iris_5?
- Why does the state of each UAV not published to mavros e.g /iris_5/mavros/state
- How can I find where the system publishes of each UAV of /mavros/state and /mavros/global_position/global?