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@ -108,8 +108,10 @@ The configuration will be loaded from "Resources/Xbee_Config.xml". Most of the e
## Test two Xbee devices
We consider the following setup (**Fig.1**). The block (Drone + Manifold) can be replaced by any Desktop/Laptop meeting the prerequisites.
**Fig.1:** Experimental Setup.
**Fig.1:** Experimental Setup:
![][fig1]
[fig1]: https://github.com/MISTLab/XbeeMav/tree/master/Resources/Fig1.png "Fig.1"
One of the drones will behave as a Master while the other one will act as a Slave. The Master drone will send commands to the Slave drone.
Each drone is running a dummy flight controller node "test_controller". According to the drone type Master/Slave, the "test_controller" node will respectively send or receive and display a command. The commands in the Master drone will be introduced with the keyboard. When a command is received in the Slave drone, it will be printed on the screen. The following table (**Table.2**) depicts the keys of each command:
@ -126,7 +128,9 @@ Each drone is running a dummy flight controller node "test_controller". Accordin
| 23 | Start Mission |
**Fig.2:** ROS nodes running on the drone.
**Fig.2:** ROS nodes running on the drone:
![][fig2]
[fig2]: https://github.com/MISTLab/XbeeMav/tree/master/Resources/Fig1.png "Fig.2"
The communication between both drones is performed with Xbees. The “xbee_mav” node (**Fig.2**) will handle all communications with other ROS nodes (test_controller(Flight Controller) or test_buzz (ROS Buzz)) and the connected Xbee device. Therefore, both Xbees must be configured for Digi-Mesh with the maximum baud rate (230400).
We recognize two modes of communications: