ModifySwarm

This is a ROS service definition.

Source

# SERVICE TYPE: NumSwarmFormation
# ------------------------------------------------------------------------------
# This service modifies the number of drones in the swarm
bool detach_drone                               # Detach the drone reference from the swarm
bool new_drone                                  # Add new drone reference to the swarm
bool new_virtual_centroid_ref                   # New reference to follow
geometry_msgs/PoseStamped  virtual_centroid     # Offset of the virtual centroid to the following frame
as2_msgs/PoseWithID[] swarm_formation           # Topics to modify the flocking
---
bool success                                    # whether the SwarmBehavior has been set or not