Supply mavros with dynamic sys id to ensure connection

skel/Desktop/simulated-drone/docker-compose.yaml

@@ -4,7 +4,7 @@ version: "3.8"
 services:
   mavros:
     image: git.spirirobotics.com/spiri/services-ros1-mavros:master
-    command: roslaunch mavros px4.launch fcu_url:="udp://:14555@host.docker.internal:${MAVLINK_SIM_PORT:-14550}"
+    command: roslaunch mavros px4.launch fcu_url:="udp://:${MAVROS_SIM_FCU_PORT}@127.0.0.1:${MAVROS_SIM_GCS_PORT:-14557}" tgt_system:=${DRONE_SYS_ID:-1}
     environment:
       - "ROS_MASTER_URI=http://ros-master:${ROS_MASTER_PORT:-11311}"
     depends_on:
@@ -19,6 +19,9 @@ services:
       nofile:
         soft: 1024
         hard: 524288
+    ports:
+      - "${MAVROS_SIM_FCU_PORT:-14540}:${MAVROS_SIM_FCU_PORT:-14540}/udp"
+      - "${MAVROS_SIM_GCS_PORT:-14557}:${MAVROS_SIM_GCS_PORT:-14557}/udp"
 
   ros-master:
     image: git.spirirobotics.com/spiri/services-ros1-core:main

skel/Desktop/simulated-drone/sim_drone.py

@@ -112,7 +112,9 @@ def start(sys_id: int = 1):
             PX4_GZ_MODEL_POSE=os.environ.get("PX4_GZ_MODEL_POSE") or f"0,{(sys_id-1)}",
             PX4_INSTANCE="intance_id",
             ROS_MASTER_PORT=str(11310 + sys_id),
-            MAVLINK_SIM_PORT=str(14549 + sys_id),
+            MAVROS_SIM_GCS_PORT=str(14556 + sys_id),
+            MAVROS_SIM_FCU_PORT=str(14539 + sys_id),
+            DRONE_SYS_ID=str(sys_id),
         ):
             instance_id = sys_id - 1  # PX4 will add 1 to the instance ID to get sysID
             px4Instance = px4(