fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 05:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

support of multi uav simulation in SITL

Browse Source
This commit is contained in:
Mohamed Abdelkader Zahana
2017-05-14 15:46:18 +02:00
committed by Lorenz Meier
parent 669e580f0a
commit cd1e04d43c
8 changed files with 503 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
launch/single_vehcile_spawn.launch
+33
View File
@@ -0,0 +1,33 @@
<launch>
<!-- Posix SITL environment launch script -->
<arg name="x" default="0"/>
<arg name="y" default="0"/>
<arg name="z" default="0"/>
<arg name="R" default="0"/>
<arg name="P" default="0"/>
<arg name="Y" default="0"/>
<arg name="est" default="lpe"/>
<arg name="vehicle" default="iris"/>
<arg name="ID" default="1"/>
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>
<arg name="mavlink_udp_port" default="14560" />
<arg name="cmd" default="$(find xacro)/xacro.py $(find px4)/Tools/sitl_gazebo/models/rotors_description/urdf/$(arg vehicle)_base.xacro rotors_description_dir:=$(find px4)/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(arg mavlink_udp_port) > $(arg vehicle)_$(arg ID).urdf ; 'gz sdf -p $(arg vehicle)_$(arg ID).urdf'" />
<param command="$(arg cmd)" name="$(arg vehicle)_$(arg ID)_sdf" />
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen"
args="$(find px4) $(arg rcS)">
</node>
<node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model"
args="-sdf -param $(arg vehicle)_$(arg ID)_sdf -model $(arg vehicle)_$(arg ID) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)" respawn="false"/>
</launch>
<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->