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SITL: Test launch file for ROS multi-vehicle sim

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Rajat Singhal 2019-11-27 17:12:48 +05:30 committed by Randy Mackay
parent 241d406ef3
commit a1e1558709
1 changed files with 33 additions and 0 deletions
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33
libraries/SITL/examples/Airsim/multi_uav_ros_sitl.launch Normal file
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<?xml version="1.0"?>
<launch>
<!-- UAV0 -->
<group ns="uav0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="1"/>
<arg name="fcu_url" default="udp://:14550@localhost:14555"/>
<!-- MAVROS -->
<include file="$(find mavros)/launch/apm.launch">
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="gcs_url" value=""/>
<arg name="tgt_system" value="$(arg ID)"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- UAV1 -->
<group ns="uav1">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="2"/>
<arg name="fcu_url" default="udp://:14560@localhost:14565"/>
<!-- MAVROS -->
<include file="$(find mavros)/launch/apm.launch">
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="gcs_url" value=""/>
<arg name="tgt_system" value="$(arg ID)"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
</launch>
<!-- to add more UAVs:
Increase the id
Change the name space
Set the FCU to default="udp://:14540+id*10@localhost:14545+id*10" -->