pymavswarm is a Python library implemented to enable interaction with drone
swarms using the MAVLink protocol. This library supports reading MAVLink
messages sent from multiple agents in a swarm and sending MAVLink messages to
agents within the swarm. Such functionality ultimately enables development of
new swarm applications such as ground control stations.
Here are some of the main features of pymavswarm:
- Easily send MAVLink commands to multiple drones, simultaneously
- Monitor the state of swarm drone agents
- Implement custom commands and swarm algorithms
- Develop applications for on-board companion computers
- Implement custom swarm ground control stations
- Log incoming MAVLink messages for future evaluation and debugging
- Construct pre-planned missions
- Multi-agent collision avoidance using reachability analysis
pymavswarm may be installed from PyPI by running:
$ python3 -m pip install pymavswarmTo build pymavswarm from source, first ensure that at least Python 3.10 is
installed. Once this dependency has been met, refer to the steps below:
- Clone the project repository
- Navigate to the
pymavswarm/base directory
$ cd path/to/pymavswarm/- Install the
pymavswarmPython package
$ python3 -m pip install .pymavswarm has been implemented to enable easy interfacing with drone
swarms. Refer to the following code snippet for a simple example to get started
with the library. Additional examples may be found in the project examples.
import time
from pymavswarm import MavSwarm
# Create a new pymavswarm interface
mavswarm = MavSwarm()
# Establish a connection with a USB telemetry device
mavswarm.connect('/dev/ttyUSB0', 115200, 255, 0)
# Wait for the swarm to be populated
while not mavswarm.agents:
pass
# Arm each agent in the swarm
mavswarm.arm()
# Briefly delay to allow all agents to arm
time.sleep(5.0)
# Disarm each agent in the swarm
mavswarm.disarm()
# Close the pymavswarm connection
mavswarm.disconnect()If you have questions regarding pymavswarm usage or contribution please ask a
question on our Discussions board!
All contributions and ideas are welcome! Detailed guidelines regarding how to contribute can be found in the contribution guidelines.
pymavswarm is released under the GNU General Public License v3 or later