SwarmFlocking

This is a ROS action definition.

Source

# Swarm action definition

# Request
geometry_msgs/PoseStamped   virtual_centroid    # Offset of the virtual centroid to the following frame
as2_msgs/PoseWithID[] swarm_formation           # Pose of the drones with respect to the virtual centroid
string[]    drones_namespace                    # Namespaces of the drones in the swarm
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# Result
bool swarm_success                              # False if failed to swarm_success
---
# Feedback
geometry_msgs/Pose swarm_pose                   # Current swarm pose