SITL: Example script for ROS multi-vehicle with Airsim

libraries/SITL/examples/Airsim/multi_vehicle.sh

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+#!/bin/bash
+
+# Example script for multi-vehicle simulation with AirSim and usage with ROS
+# see http://ardupilot.org/dev/docs/sitl-with-airsim.html#multi-vehicle-simulation for details
+
+# Usage - From ardupilot root directory, run - libraries/SITL/examples/Airsim/multi_vehicle.sh $GCS_IP
+# $GCS_IP is the IP address of the system running the GCS, by default is 127.0.0.1
+
+# Kill all SITL binaries when exiting
+trap "killall -9 arducopter" SIGINT SIGTERM EXIT
+
+# assume we start the script from the root directory
+ROOTDIR=$PWD
+COPTER=$ROOTDIR/build/sitl/bin/arducopter
+
+# Set GCS_IP address
+if [ -z $1 ]; then
+    GCS_IP="127.0.0.1"
+else
+    GCS_IP=$1
+fi
+
+
+BASE_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/copter.parm,$ROOTDIR/libraries/SITL/examples/Airsim/quadX.parm"
+
+[ -x "$COPTER" ] || {
+    ./waf configure --board sitl
+    ./waf copter
+}
+
+# start up main copter in the current directory
+$COPTER --model airsim-copter --uartA udpclient:$GCS_IP:14550 --uartB tcp:0 --defaults $BASE_DEFAULTS &
+
+# Set number of "extra" copters to be simulated, change this for increasing the count
+NCOPTERS="1"
+
+
+# now start another copter, using
+# a separate directory to keep the eeprom.bin and logs separate
+for i in $(seq $NCOPTERS); do
+    echo "Starting copter $i"
+    mkdir -p copter$i
+
+    SYSID=$(expr $i + 1)
+    UDP_PORT=$((14550 + $i * 10))
+
+    # create seperate parameter file for each drone for SYSID
+    cat <<EOF > copter$i/identity.parm
+SYSID_THISMAV $SYSID
+EOF
+
+    pushd copter$i
+    $COPTER --model airsim-copter --uartA udpclient:$GCS_IP:$UDP_PORT --uartB tcp:$i \
+            --instance $i --defaults $BASE_DEFAULTS,identity.parm &
+    popd
+done
+wait