Multi-drone real race support via host-client ROS2 architecture - #102

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N0OBSTUDENT wants to merge 106 commits into

learnsyslab:mainfrom

N0OBSTUDENT:zenoh_ros2_multidrone

Commits on Jan 22, 2026

Merge remote-tracking branch 'origin/main' into dev
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Commits on Jan 27, 2026

Protptype for multi drone racing using a Barrier object to sync start
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Fixed dimension problem when trying to intialize a controller with multi-drone racing configuration
N0OBSTUDENT
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Commits on Mar 2, 2026

Vibe coded 1st version of multi drone racing using Zenoh
N0OBSTUDENT
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Commits on Mar 28, 2026

Commits on Apr 21, 2026

Replace events with barrier.
N0OBSTUDENT
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Commits on Apr 22, 2026

Add success/failure indicators in forks
ratheron
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Commits on Apr 26, 2026

Commits on Apr 27, 2026

Removed the 0.1sec waiting and bare exception at shutdown of client
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Split the ConfigDict argument in RealRaceHost
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Fixed bad docstring
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Replace the busy-wait loop with event blocking the thread
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Remove the property and make the node externally accessible
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Remove unnecessary imports
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Modifies multi_sim to take in n controllers instead of one. Adds wrappers for both attitude controllers.

rducrist
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ratheron
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Changes flight times for demo attitude controllers to avoid collision

rducrist
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ratheron
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Adapts documentation for wrappers

rducrist
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Sets attitude controllers as default

rducrist
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ratheron
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Rewrites logging to be more readable. Now displays the stats as table

rducrist
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ratheron
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Increases offset between drones to prevent collision

rducrist
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ratheron
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Ruff formats

rducrist
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ratheron
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Ruff check again

rducrist
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ratheron
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Avoids calling controllers if the respective drones are disabled

rducrist
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ratheron
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Adds start position of drones to waypoints

rducrist
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ratheron
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Removes try block, simplyfies info rank logic.

rducrist
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ratheron
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Removes initial first waypoint from all controllers. Adds z offset to prevent collision. Changes mpc spline time back to 15s

rducrist
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Update waypoints
ratheron
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Adds logic for running controllers at different frequencies

rducrist
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ratheron
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Move prediods
ratheron
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Fix linting
ratheron
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Commits on May 10, 2026

Commits on Jun 10, 2026

Commits on Jun 23, 2026

Adds return to start controller for each worker
rducrist
committed

Commits on Jun 25, 2026

Allocates the return controller height dynamically depending on the finish position
rducrist
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Commits on Jun 26, 2026

Commits on Jul 7, 2026

Adds testing deploy scripts for debugging
rducrist
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