Starting modes

Function	Description
startPlanning	Starts the Planning Mode
startSimulation	Starts the Simulation Mode
startNavigation	Starts the Navigation Mode

Swarm.startPlanning()

• Parameters:

  • None

• Result: Sets the operation mode as Planning and opens the Swarm Preview initial window.

Swarm.startSimulation(launch=False)

• Parameters:

  • launch: bool, optional

    Set launch boolean to 'True' in order to allow running the simulation with the standard initial formation

The standard initial formations are:

• Line for up to three drones;

• Full square for four and more drones.

• Result: Starts all the ROS necessary nodes, the Gazebo, Swarm Checker, and launches the simulation with the already defined params.

Swarm.startNavigation()

• Parameters:

  • None

• Result: Sets the operation mode as Navigation.

The modes are detailed in the Launch modes section