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54 lines
2.4 KiB
Markdown
54 lines
2.4 KiB
Markdown
# Multi-Vehicle Simulation with JMAVSim
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This topic explains how to simulate multiple UAV (multicopter) vehicles using [JMAVSim](../sim_jmavsim/index.md) and SITL.
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All vehicle instances are started at the same position in the simulation.
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:::tip
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This is the easiest way to simulate multiple vehicles running PX4.
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It is suitable for testing multi-vehicle support in _QGroundControl_ (or the [MAVSDK](https://mavsdk.mavlink.io/), etc.).
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[Multi-Vehicle Simulation with Gazebo](../simulation/multi-vehicle-simulation.md) should be used for swarm simulations with many vehicles, or for testing features like computer vision that are only supported by Gazebo.
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:::
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## How to Start Multiple Instances
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To start multiple instances (on separate ports):
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1. Build PX4
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```sh
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make px4_sitl_default
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```
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2. Run **sitl_multiple_run.sh**, specifying the number of instances to start (e.g. 2):
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```sh
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./Tools/sitl_multiple_run.sh 2
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```
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3. Start the first instance in the same terminal (this will run in the foreground):
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```sh
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./Tools/simulation/jmavsim/jmavsim_run.sh -l
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```
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4. Open a new terminal for each subsequent instance, specifying the _simulation_ TCP port for the instance:
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```sh
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./Tools/simulation/jmavsim/jmavsim_run.sh -p 4560 -l
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```
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The port should be set to `4560+i` where `i` iterates for each instance (from `0` to `N-1`)
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_QGroundControl_ should automatically connect to all the new vehicle instances (all GCS traffic is sent to PX4's remote UDP port: `14550` from all instances).
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The vehicle that is currently being controlled is displayed in the application to bar; you can select this vehicle text to display a selection list of all of the (simulated) connected vehicle instances (`Vehicle 1`, `Vehicle 2`, etc.) and choose a new vehicle to control.
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Developer APIs such as _MAVSDK_ or _MAVROS_ can connect to individual instances by listening on sequentially allocated PX4 remote UDP ports from `14540` (first instance) to `14549`.
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Additional instances _all_ connect to port `14549`.
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> **Tip** The **sitl_multiple_run.sh** script starts a separate process for each vehicle.
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> To restart the simulations after killing one of them, you must call **sitl_multiple_run.sh** again, and also restart each of the individual instances in their own terminals.
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## Additional Resources
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- See [Simulation](../simulation/index.md) for more information about the port configuration.
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