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multi vehicle gz sim convenience script
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Jacob Dahl
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156
Tools/simulation/README_gz_multi_vehicle.md
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Tools/simulation/README_gz_multi_vehicle.md
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# Multi-Vehicle Gazebo Simulation Script
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## Overview
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`gz_multi_vehicle.sh` is a script to easily launch multiple PX4 gz_x500 drones in Gazebo simulation with configurable positioning. Each drone instance runs in its own terminal window for easy monitoring.
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**Platform**: Ubuntu Linux only
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## Prerequisites
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1. PX4 SITL must be built:
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```bash
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make px4_sitl
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```
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2. Gazebo (gz) must be installed (Harmonic, Ionic, or Jetty)
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3. A terminal emulator (terminator or gnome-terminal):
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```bash
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# Recommended:
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sudo apt install terminator
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# Or use gnome-terminal:
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sudo apt install gnome-terminal
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```
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## Usage
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```bash
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./Tools/simulation/gz_multi_vehicle.sh [num_vehicles] [spacing]
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```
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### Parameters
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- `num_vehicles` (optional, default: 2, max: 10): Number of drones to spawn
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- `spacing` (optional, default: 0.5): Distance between drones in meters along the Y-axis
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### Examples
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Launch 3 drones with default 0.5m spacing:
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```bash
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./Tools/simulation/gz_multi_vehicle.sh 3
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```
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Launch 5 drones with 1.0m spacing:
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```bash
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./Tools/simulation/gz_multi_vehicle.sh 5 1.0
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```
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Launch 2 drones (default configuration):
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```bash
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./Tools/simulation/gz_multi_vehicle.sh
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```
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## What the Script Does
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1. **Validates** that PX4 SITL is built and terminal emulator is available
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2. **Cleans up** any existing PX4 and Gazebo instances
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3. **Launches the first vehicle in a new terminal** (instance 0):
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- Starts Gazebo server and GUI
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- Spawns x500_0 at position (0, 0, 0)
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- MAV_SYS_ID = 1
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- Terminal title: "PX4 Vehicle 0 (MAV_SYS_ID=1)"
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4. **Launches subsequent vehicles in separate terminals** (instances 1, 2, ...):
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- Connects to running Gazebo instance
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- Spawns x500_N at position (0, N×spacing, 0)
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- MAV_SYS_ID = N+1
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- Terminal title: "PX4 Vehicle N (MAV_SYS_ID=N+1)"
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Each vehicle runs in its own terminal window, making it easy to monitor the output and debug individual drones.
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## Vehicle Configuration
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Each vehicle gets:
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- **Unique instance number**: 0, 1, 2, ...
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- **Unique MAV_SYS_ID**: instance + 1 (1, 2, 3, ...)
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- **Unique model name**: x500_0, x500_1, x500_2, ...
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- **Unique position**: Spaced along Y-axis
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- **Unique ROS 2 namespace** (if using ROS 2): px4_1, px4_2, px4_3, ...
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- **Dedicated terminal window**: Each instance displays its output in a separate terminal
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## Using with QGroundControl
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QGroundControl should automatically detect and connect to all vehicles. You can switch between them in the vehicle dropdown menu.
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## Using with ROS 2
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To use the vehicles with ROS 2:
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1. Start the MicroXRCE-DDS Agent (all vehicles connect to the same agent):
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```bash
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MicroXRCEAgent udp4 -p 8888
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```
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2. List topics to see all vehicles:
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```bash
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ros2 topic list
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```
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You should see topics namespaced by vehicle:
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- `/px4_1/fmu/in/...`
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- `/px4_1/fmu/out/...`
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- `/px4_2/fmu/in/...`
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- `/px4_2/fmu/out/...`
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- etc.
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## Stopping the Simulation
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To stop all vehicles, you can either:
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1. **Close the terminal windows** - Each terminal will prompt you to press Enter before closing
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2. **Kill all PX4 processes**:
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```bash
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pkill -x px4
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```
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To stop Gazebo:
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```bash
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gz sim -k
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```
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## Troubleshooting
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### Vehicles not spawning
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- Check the terminal window for the specific vehicle - all output is displayed there
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- Ensure Gazebo is installed: `gz sim --versions`
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- Make sure the first vehicle (instance 0) has fully started Gazebo before others spawn
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### Gazebo GUI not appearing
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- Check if running in headless mode
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- Try setting display: `export DISPLAY=:0`
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### Terminal emulator not found
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- Install terminator (recommended): `sudo apt install terminator`
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- Or install gnome-terminal: `sudo apt install gnome-terminal`
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### Port conflicts
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- The script automatically handles MAVLink ports (14540 + instance)
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- UXRCE-DDS uses unique keys for namespacing
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## Monitoring Output
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Each vehicle displays its output in its own terminal window. The terminal title shows the vehicle instance and MAV_SYS_ID for easy identification. If a vehicle crashes or exits, the terminal will remain open and prompt you to press Enter before closing, allowing you to review any error messages.
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## Architecture Details
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The script implements the multi-vehicle pattern described in the PX4 docs:
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- First instance launches Gazebo server (no PX4_GZ_STANDALONE)
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- Subsequent instances connect to running server (PX4_GZ_STANDALONE=1)
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- Each instance uses PX4_GZ_MODEL_POSE for positioning
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- Automatic MAV_SYS_ID and UXRCE_DDS_KEY assignment based on instance number
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## References
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- [PX4 Multi-Vehicle Gazebo Docs](https://docs.px4.io/main/en/sim_gazebo_gz/multi_vehicle_simulation.html)
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- [PX4 ROS 2 Multi-Vehicle](https://docs.px4.io/main/en/ros2/multi_vehicle.html)
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226
Tools/simulation/gz_multi_vehicle.sh
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226
Tools/simulation/gz_multi_vehicle.sh
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#!/bin/bash
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# Multi-vehicle Gazebo (gz) simulation launcher for PX4
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# Spawns multiple gz_x500 drones with configurable spacing
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# Each instance runs in its own terminal window
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# Usage: ./gz_multi_vehicle.sh [num_vehicles] [spacing]
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# num_vehicles: Number of drones to spawn (default: 2, max: 10)
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# spacing: Distance between drones in meters (default: 0.5)
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set -e
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# Configuration
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num_vehicles=${1:-2}
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spacing=${2:-1}
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MAX_VEHICLES=10
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# Get script directory and PX4 root
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SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
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PX4_DIR="$SCRIPT_DIR/../.."
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# Build directory
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BUILD_DIR="${PX4_DIR}/build/px4_sitl_default"
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# Detect available terminal emulator (Ubuntu only)
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TERMINAL=""
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if command -v terminator &> /dev/null; then
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TERMINAL="terminator"
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elif command -v gnome-terminal &> /dev/null; then
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TERMINAL="gnome-terminal"
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else
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echo "ERROR: No compatible terminal emulator found"
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echo "Please install either terminator or gnome-terminal"
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echo " sudo apt install terminator"
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echo " or"
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echo " sudo apt install gnome-terminal"
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exit 1
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fi
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echo "Using terminal: $TERMINAL"
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# Validate inputs
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if ! [[ "$num_vehicles" =~ ^[0-9]+$ ]] || [ "$num_vehicles" -lt 1 ]; then
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echo "ERROR: Number of vehicles must be a positive integer"
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echo "Usage: $0 [num_vehicles] [spacing]"
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exit 1
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fi
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if [ "$num_vehicles" -gt "$MAX_VEHICLES" ]; then
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echo "ERROR: Number of vehicles cannot exceed $MAX_VEHICLES"
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echo "Usage: $0 [num_vehicles] [spacing]"
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exit 1
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fi
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if ! [[ "$spacing" =~ ^[0-9]+\.?[0-9]*$ ]]; then
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echo "ERROR: Spacing must be a positive number"
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echo "Usage: $0 [num_vehicles] [spacing]"
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exit 1
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fi
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# Check if PX4 is built
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if [ ! -f "${BUILD_DIR}/bin/px4" ]; then
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echo "ERROR: PX4 SITL not built. Please run 'make px4_sitl' first"
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exit 1
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fi
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echo "=================================================="
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echo "PX4 Multi-Vehicle Gazebo Launcher"
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echo "=================================================="
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echo "Number of vehicles: $num_vehicles"
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echo "Spacing: ${spacing}m"
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echo "Model: gz_x500"
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echo "PX4 Directory: $PX4_DIR"
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echo "=================================================="
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echo ""
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# # Kill any existing PX4 instances
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# echo "Cleaning up any existing PX4 instances..."
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# pkill -x px4 || true
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# sleep 1
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# # Kill any existing Gazebo instances
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# echo "Cleaning up any existing Gazebo instances..."
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# pkill -x ruby || true # Gazebo uses ruby
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# pkill gz || true
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# sleep 2
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echo ""
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echo "Launching vehicles..."
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echo ""
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# Function to launch terminal based on type
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launch_terminal() {
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local title="$1"
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local instance="$2"
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local working_dir="$3"
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local y_pos="$4"
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case "$TERMINAL" in
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terminator)
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terminator --title="$title" -x bash -c "
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cd '$working_dir'
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echo '=========================================='
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echo '$title'
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echo '=========================================='
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echo 'Working directory: $working_dir'
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echo 'Instance: $instance'
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if [ $instance -eq 0 ]; then
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echo 'Mode: Primary (launching Gazebo)'
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export PX4_SYS_AUTOSTART=4001
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export PX4_SIM_MODEL=gz_x500
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'$BUILD_DIR/bin/px4' -i $instance -d '$BUILD_DIR/etc'
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else
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echo 'Mode: Secondary (connecting to Gazebo)'
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echo 'Position: (0, $y_pos, 0)'
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export PX4_SYS_AUTOSTART=4001
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export PX4_SIM_MODEL=gz_x500
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export PX4_GZ_MODEL_POSE='0,$y_pos'
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export PX4_GZ_STANDALONE=1
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'$BUILD_DIR/bin/px4' -i $instance -d '$BUILD_DIR/etc'
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fi
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echo ''
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echo 'PX4 exited. Press Enter to close this terminal...'
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read
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" &
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;;
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gnome-terminal)
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gnome-terminal --title="$title" -- bash -c "
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cd '$working_dir'
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echo '=========================================='
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echo '$title'
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echo '=========================================='
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echo 'Working directory: $working_dir'
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echo 'Instance: $instance'
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if [ $instance -eq 0 ]; then
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echo 'Mode: Primary (launching Gazebo)'
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export PX4_SYS_AUTOSTART=4001
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export PX4_SIM_MODEL=gz_x500
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'$BUILD_DIR/bin/px4' -i $instance -d '$BUILD_DIR/etc'
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else
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echo 'Mode: Secondary (connecting to Gazebo)'
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echo 'Position: (0, $y_pos, 0)'
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export PX4_SYS_AUTOSTART=4001
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export PX4_SIM_MODEL=gz_x500
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export PX4_GZ_MODEL_POSE='0,$y_pos'
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export PX4_GZ_STANDALONE=1
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'$BUILD_DIR/bin/px4' -i $instance -d '$BUILD_DIR/etc'
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fi
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echo ''
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echo 'PX4 exited. Press Enter to close this terminal...'
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read
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" &
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;;
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esac
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}
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# Launch each vehicle instance
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for i in $(seq 0 $((num_vehicles - 1))); do
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# Create working directory for this instance
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working_dir="${BUILD_DIR}/instance_${i}"
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mkdir -p "$working_dir"
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# Create symlink to gz_env.sh if it doesn't exist
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if [ ! -f "$working_dir/gz_env.sh" ]; then
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ln -sf "${BUILD_DIR}/rootfs/gz_env.sh" "$working_dir/gz_env.sh"
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fi
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# Calculate Y position (spacing along Y-axis)
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y_pos=$(echo "$i * $spacing" | bc -l)
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# MAV_SYS_ID will be instance + 1
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mav_sys_id=$((i + 1))
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echo "----------------------------------------"
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echo "Launching Vehicle $i"
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echo " Working directory: $working_dir"
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echo " Position: (0, $y_pos, 0)"
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echo " MAV_SYS_ID: $mav_sys_id"
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echo " Model name: x500_${i}"
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if [ $i -eq 0 ]; then
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echo " Mode: Primary (launching Gazebo)"
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else
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echo " Mode: Secondary (connecting to Gazebo)"
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fi
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# Launch in new terminal
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title="PX4 Vehicle $i (MAV_SYS_ID=$mav_sys_id)"
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launch_terminal "$title" "$i" "$working_dir" "$y_pos"
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echo " Status: Terminal launched"
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echo "----------------------------------------"
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echo ""
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# Wait for first instance to start Gazebo before launching others
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if [ $i -eq 0 ]; then
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echo "Waiting for Gazebo to start (15 seconds)..."
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sleep 15
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fi
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done
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echo ""
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echo "=================================================="
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echo "All vehicles launched successfully!"
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echo "=================================================="
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echo ""
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echo "Vehicle Summary:"
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echo "----------------"
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for i in $(seq 0 $((num_vehicles - 1))); do
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y_pos=$(echo "$i * $spacing" | bc -l)
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mav_sys_id=$((i + 1))
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echo "Vehicle $i:"
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echo " - MAV_SYS_ID: $mav_sys_id"
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echo " - Model name: x500_${i}"
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echo " - Position: (0, $y_pos, 0)"
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echo " - ROS 2 namespace: px4_${mav_sys_id}"
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echo " - Terminal: PX4 Vehicle $i (MAV_SYS_ID=$mav_sys_id)"
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echo ""
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done
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echo "Tips:"
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echo "-----"
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echo "- Each vehicle is running in its own terminal window"
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echo "- QGroundControl should auto-connect to all vehicles"
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echo "- For ROS 2, start MicroXRCEAgent: MicroXRCEAgent udp4 -p 8888"
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echo "- To stop all vehicles, close the terminal windows or run: pkill -x px4"
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echo ""
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echo "=================================================="
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