version1.0

Author: micros-uav

for_external_projects/PX4-Autopilot/multi_uav_mavros_sitl_1.launch

@@ -0,0 +1,64 @@
+<?xml version="1.0"?>
+<launch>
+    <!-- MAVROS posix SITL environment launch script -->
+    <!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
+    <!-- vehicle model and world -->
+    <arg name="est" default="ekf2"/>
+    <arg name="vehicle" default="iris"/>
+    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/my_world.world"/>
+    <!-- gazebo configs -->
+    <arg name="gui" default="true"/>
+    <arg name="debug" default="false"/>
+    <arg name="verbose" default="false"/>
+    <arg name="paused" default="false"/>
+    <!-- Gazebo sim -->
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="world_name" value="$(arg world)"/>
+        <arg name="debug" value="$(arg debug)"/>
+        <arg name="verbose" value="$(arg verbose)"/>
+        <arg name="paused" value="$(arg paused)"/>
+    </include>
+
+    <arg name ="N" default = "1"/>
+    <arg name ="deltaX" default = "2.42"/>
+    <arg name = "N2" default = "$(eval floor(sqrt(arg('N'))))"/>
+    <arg name = "N2_1" value = "$(eval floor((arg('N')-1)/arg('N2'))/2)"/>
+    <arg name = "X0" value = "-28"/>
+    <arg name = "Y0" value = "0"/>
+    <arg name = "ID_start" value = "0"/>
+    <!-- UAV0 -->
+    <group ns="uav0">
+        <!-- MAVROS and vehicle configs -->
+        <arg name="ID" value="0"/>
+        <arg name="fcu_url" default="udp://:14540@localhost:14580"/>
+        <!-- PX4 SITL and vehicle spawn -->
+        <include file="$(find px4)/launch/single_vehicle_spawn.launch">
+            <arg name="x" value="$(eval ((arg('ID')+arg('ID_start'))%arg('N2'))*arg('deltaX') + arg('X0') )"/>
+            <arg name="y" value="$(eval (-arg('N2_1')+floor((arg('ID')+arg('ID_start'))/arg('N2')))*arg('deltaX') + arg('Y0')  )"/>
+            <arg name="z" value="0"/>
+            <arg name="R" value="0"/>
+            <arg name="P" value="0"/>
+            <arg name="Y" value="0"/>
+            <arg name="vehicle" value="$(arg vehicle)"/>
+            <arg name="mavlink_udp_port" value="14560"/>
+            <arg name="mavlink_tcp_port" value="4560"/>
+            <arg name="ID" value="$(arg ID)"/>
+            <arg name="gst_udp_port" value="$(eval 5600 + arg('ID'))"/>
+            <arg name="video_uri" value="$(eval 5600 + arg('ID'))"/>
+            <arg name="mavlink_cam_udp_port" value="$(eval 14530 + arg('ID'))"/>
+        </include>
+        <!-- MAVROS -->
+        <include file="$(find mavros)/launch/px4.launch">
+            <arg name="fcu_url" value="$(arg fcu_url)"/>
+            <arg name="gcs_url" value=""/>
+            <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
+            <arg name="tgt_component" value="1"/>
+        </include>
+    </group>
+</launch>
+<!-- to add more UAVs (up to 10):
+Increase the id
+Change the name space
+Set the FCU to default="udp://:14540+id@localhost:14550+id"
+Set the malink_udp_port to 14560+id) -->