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ROS multi-vehicle simulation: fixed udp port overlap issues

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This commit is contained in:
Kunal Shah
2018-09-10 13:05:02 -07:00
committed by Beat Küng
parent 370fddc115
commit 7f016b5fd4
2 changed files with 38 additions and 7 deletions
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6
ROMFS/px4fmu_common/init.d-posix/rcS
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@@ -81,11 +81,11 @@ fi
# multi-instance setup # multi-instance setup
# shellcheck disable=SC2154 # shellcheck disable=SC2154
param set MAV_SYS_ID $((1+px4_instance)) param set MAV_SYS_ID $((px4_instance+1))
simulator_udp_port=$((14560+px4_instance)) simulator_udp_port=$((14560+px4_instance))
udp_offboard_port_local=$((14557+px4_instance)) udp_offboard_port_local=$((14580+px4_instance))
udp_offboard_port_remote=$((14540+px4_instance)) udp_offboard_port_remote=$((14540+px4_instance))
udp_gcs_port_local=$((14556+px4_instance)) udp_gcs_port_local=$((14570+px4_instance))
if [ $AUTOCNF = yes ] if [ $AUTOCNF = yes ]
then then

39
launch/multi_uav_mavros_sitl.launch
View File

@@ -23,7 +23,7 @@
<group ns="uav1"> <group ns="uav1">
<!-- MAVROS and vehicle configs --> <!-- MAVROS and vehicle configs -->
<arg name="ID" value="1"/> <arg name="ID" value="1"/>
<arg name="fcu_url" default="udp://:14540@localhost:14557"/> <arg name="fcu_url" default="udp://:14541@localhost:14581"/>
<!-- PX4 SITL and vehicle spawn --> <!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn.launch"> <include file="$(find px4)/launch/single_vehicle_spawn.launch">
<arg name="x" value="0"/> <arg name="x" value="0"/>
@@ -40,7 +40,7 @@
<include file="$(find mavros)/launch/px4.launch"> <include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="$(arg fcu_url)"/> <arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="gcs_url" value=""/> <arg name="gcs_url" value=""/>
<arg name="tgt_system" value="$(arg ID)"/> <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/> <arg name="tgt_component" value="1"/>
</include> </include>
</group> </group>
@@ -48,7 +48,7 @@
<group ns="uav2"> <group ns="uav2">
<!-- MAVROS and vehicle configs --> <!-- MAVROS and vehicle configs -->
<arg name="ID" value="2"/> <arg name="ID" value="2"/>
<arg name="fcu_url" default="udp://:14541@localhost:14558"/> <arg name="fcu_url" default="udp://:14542@localhost:14582"/>
<!-- PX4 SITL and vehicle spawn --> <!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn.launch"> <include file="$(find px4)/launch/single_vehicle_spawn.launch">
<arg name="x" value="1"/> <arg name="x" value="1"/>
@@ -65,8 +65,39 @@
<include file="$(find mavros)/launch/px4.launch"> <include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="$(arg fcu_url)"/> <arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="gcs_url" value=""/> <arg name="gcs_url" value=""/>
<arg name="tgt_system" value="$(arg ID)"/> <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- UAV3 -->
<group ns="uav3">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="3"/>
<arg name="fcu_url" default="udp://:14543@localhost:14583"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn.launch">
<arg name="x" value="0"/>
<arg name="y" value="1"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="mavlink_udp_port" value="14563"/>
<arg name="ID" value="$(arg ID)"/>
</include>
<!-- MAVROS -->
<include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="gcs_url" value=""/>
<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/> <arg name="tgt_component" value="1"/>
</include> </include>
</group> </group>
</launch> </launch>
<!-- to add more UAVs (up to 10):
Increase the id
Change the name space
Set the FCU to default="udp://:14540+id@localhost:14550+id"
Set the malink_udp_port to 14560+id) -->