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add mavlink_tcp_port for multiple uav simultation

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stmoon
2019-02-17 07:24:00 +00:00
committed by Beat Küng
parent 4dc1503122
commit 460c16cd7a
2 changed files with 5 additions and 1 deletions
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3
launch/single_vehicle_spawn.launch
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@@ -16,10 +16,11 @@
<env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
<env name="PX4_ESTIMATOR" value="$(arg est)" />
<arg name="mavlink_udp_port" default="14560"/>
<arg name="mavlink_tcp_port" default="4560"/>
<!-- PX4 configs -->
<arg name="interactive" default="true"/>
<!-- generate urdf vehicle model -->
<arg name="cmd" default="$(find xacro)/xacro $(find px4)/Tools/sitl_gazebo/models/rotors_description/urdf/$(arg vehicle)_base.xacro rotors_description_dir:=$(find px4)/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(arg mavlink_udp_port) --inorder"/>
<arg name="cmd" default="$(find xacro)/xacro $(find px4)/Tools/sitl_gazebo/models/rotors_description/urdf/$(arg vehicle)_base.xacro rotors_description_dir:=$(find px4)/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(arg mavlink_udp_port) mavlink_tcp_port:=$(arg mavlink_tcp_port) --inorder"/>
<param command="$(arg cmd)" name="rotors_description"/>
<!-- PX4 SITL -->
<arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>