mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-01 14:14:06 +08:00
88d623bedb
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
55 lines
3.3 KiB
Markdown
55 lines
3.3 KiB
Markdown
# Multi-Vehicle Симуляція з ROS 2
|
||
|
||
[XRCE-DDS](../middleware/uxrce_dds.md) allows for multiple clients to be connected to the same agent over UDP.
|
||
Це особливо корисно в симуляції, якщо потрібно запустити лише один агент.
|
||
|
||
## Налаштування та вимоги
|
||
|
||
Єдині вимоги
|
||
|
||
- To be able to run [multi-vehicle simulation](../simulation/multi-vehicle-simulation.md) without ROS 2 with the desired simulator ([Gazebo](../sim_gazebo_gz/multi_vehicle_simulation.md), [Gazebo Classic](../sim_gazebo_classic/multi_vehicle_simulation.md#multiple-vehicle-with-gazebo-classic), [FlightGear](../sim_flightgear/multi_vehicle.md) and [JMAVSim](../sim_jmavsim/multi_vehicle.md)).
|
||
- To be able to use [ROS 2](../ros2/user_guide.md) in a single vehicle simulation.
|
||
|
||
## Принцип операції
|
||
|
||
In simulation each PX4 instance receives a unique `px4_instance` number starting from `0`.
|
||
This value is used to assign a unique value to [UXRCE_DDS_KEY](../advanced_config/parameter_reference.md#UXRCE_DDS_KEY):
|
||
|
||
```sh
|
||
param set UXRCE_DDS_KEY $((px4_instance+1))
|
||
```
|
||
|
||
:::info
|
||
By doing so, `UXRCE_DDS_KEY` will always coincide with [MAV_SYS_ID](../advanced_config/parameter_reference.md#MAV_SYS_ID).
|
||
:::
|
||
|
||
Moreover, when `px4_instance` is greater than zero, a unique ROS 2 [namespace prefix](../middleware/uxrce_dds.md#customizing-the-namespace) in the form `px4_$px4_instance` is added:
|
||
|
||
```sh
|
||
uxrce_dds_ns="-n px4_$px4_instance"
|
||
```
|
||
|
||
:::info
|
||
The environment variable `PX4_UXRCE_DDS_NS`, if set, will override the namespace behavior described above.
|
||
:::
|
||
|
||
The first instance (`px4_instance=0`) does not have an additional namespace in order to be consistent with the default behavior of the `xrce-dds` client on a real vehicle.
|
||
This mismatch can be fixed by manually using `PX4_UXRCE_DDS_NS` on the first instance or by starting adding vehicles from index `1` instead of `0` (this is the default behavior adopted by [sitl_multiple_run.sh](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/simulation/gazebo-classic/sitl_multiple_run.sh) for Gazebo Classic).
|
||
|
||
Типове налаштування клієнта у симуляції:
|
||
|
||
| `PX4_UXRCE_DDS_NS` | `px4_instance` | `UXRCE_DDS_KEY` | client namespace |
|
||
| ------------------ | -------------- | ---------------- | --------------------- |
|
||
| not provided | 0 | `px4_instance+1` | нічого |
|
||
| provided | 0 | `px4_instance+1` | `PX4_UXRCE_DDS_NS` |
|
||
| not provided | > 0 | `px4_instance+1` | `px4_${px4_instance}` |
|
||
| provided | > 0 | `px4_instance+1` | `PX4_UXRCE_DDS_NS` |
|
||
|
||
## Adjusting the `target_system` value
|
||
|
||
PX4 accepts [VehicleCommand](../msg_docs/VehicleCommand.md) messages only if their `target_system` field is zero (broadcast communication) or coincides with `MAV_SYS_ID`.
|
||
У всіх інших ситуаціях повідомлення ігноруються.
|
||
Therefore, when ROS 2 nodes want to send `VehicleCommand` to PX4, they must ensure that the messages are filled with the appropriate `target_system` value.
|
||
|
||
For example, if you want to send a command to your third vehicle, which has `px4_instance=2`, you need to set `target_system=3` in all your `VehicleCommand` messages.
|