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docs: gz: update docs for multi vehicle simulation (#24822)

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Jacob Dahl 2025-05-10 11:20:14 -08:00 committed by GitHub
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2 changed files with 11 additions and 6 deletions
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2
ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim
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@ -28,7 +28,7 @@ else
exit 1
fi
# If not standalone
# If not standalone launch the world
if [ -z "${PX4_GZ_STANDALONE}" ]; then
# Look for an already running world

15
docs/en/sim_gazebo_gz/multi_vehicle_simulation.md
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@ -37,18 +37,23 @@ This allows for greater flexibility and customization.
- First follow the installation instructions for [Gazebo](../sim_gazebo_gz/index.md).
- Then configure your system for [ROS 2 / PX4 operations](../ros2/user_guide.md#installation-setup).
- In different terminals manually start a multi vehicle simulation.
This example spawns 2 X500 Quadrotors and aFPX fixed-wing:
This example spawns 2 X500 Quadrotors and aFPX fixed-wing.
::: info
Note that in the first terminal you **do not** specify standalone mode. The first terminal will start the gz-server and the other two
instances will connect to it.
**Terminal 1**
:::
```sh
PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 1
```
**Terminal 2**
```sh
PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,1" PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 2
PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,1" PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 2
```
**Terminal 3**
```sh
PX4_SYS_AUTOSTART=4003 PX4_GZ_MODEL_POSE="0,2" PX4_SIM_MODEL=gz_rc_cessna ./build/px4_sitl_default/bin/px4 -i 3
PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4003 PX4_GZ_MODEL_POSE="0,2" PX4_SIM_MODEL=gz_rc_cessna ./build/px4_sitl_default/bin/px4 -i 3
```
- Start the agent: