From 49966f4c46b977d373d4916aeaed3d9aa87cee6f Mon Sep 17 00:00:00 2001
From: Anthony Lamping <lamping.ap@gmail.com>
Date: Wed, 26 Jun 2019 15:20:49 -0400
Subject: [PATCH] launch: multiple sdf models (#12306)

---
 launch/multi_uav_mavros_sitl_sdf.launch | 105 ++++++++++++++++++++++++
 launch/single_vehicle_spawn_sdf.launch  |  32 ++++++++
 2 files changed, 137 insertions(+)
 create mode 100644 launch/multi_uav_mavros_sitl_sdf.launch
 create mode 100644 launch/single_vehicle_spawn_sdf.launch

diff --git a/launch/multi_uav_mavros_sitl_sdf.launch b/launch/multi_uav_mavros_sitl_sdf.launch
new file mode 100644
index 0000000000..2157fe386c
--- /dev/null
+++ b/launch/multi_uav_mavros_sitl_sdf.launch
@@ -0,0 +1,105 @@
+<?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="plane"/>
+    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
+    <!-- gazebo configs -->
+    <arg name="gui" default="true"/>
+    <arg name="debug" default="false"/>
+    <arg name="verbose" default="false"/>
+    <arg name="paused" default="false"/>
+    <!-- Gazebo sim -->
+    <include file="$(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="$(arg paused)"/>
+    </include>
+    <!-- UAV0 -->
+    <group ns="uav0">
+        <!-- MAVROS and vehicle configs -->
+        <arg name="ID" value="0"/>
+        <arg name="fcu_url" default="udp://:14540@localhost:14580"/>
+        <!-- PX4 SITL and vehicle spawn -->
+        <include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
+            <arg name="x" value="0"/>
+            <arg name="y" value="0"/>
+            <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)"/>
+        </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="$(eval 0 + arg('ID'))"/>
+            <arg name="tgt_component" value="1"/>
+        </include>
+    </group>
+    <!-- UAV1 -->
+    <group ns="uav1">
+        <!-- MAVROS and vehicle configs -->
+        <arg name="ID" value="1"/>
+        <arg name="fcu_url" default="udp://:14541@localhost:14581"/>
+        <!-- PX4 SITL and vehicle spawn -->
+        <include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
+            <arg name="x" value="1"/>
+            <arg name="y" value="0"/>
+            <arg name="z" value="0"/>
+            <arg name="R" value="0"/>
+            <arg name="P" value="0"/>
+            <arg name="Y" value="0"/>
+            <arg name="vehicle" value="$(arg vehicle)"/>
+            <arg name="mavlink_udp_port" value="14561"/>
+            <arg name="mavlink_tcp_port" value="4561"/>
+            <arg name="ID" value="$(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="$(eval 1 + arg('ID'))"/>
+            <arg name="tgt_component" value="1"/>
+        </include>
+    </group>
+    <!-- UAV2 -->
+    <group ns="uav2">
+        <!-- MAVROS and vehicle configs -->
+        <arg name="ID" value="2"/>
+        <arg name="fcu_url" default="udp://:14542@localhost:14582"/>
+        <!-- PX4 SITL and vehicle spawn -->
+        <include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
+            <arg name="x" value="0"/>
+            <arg name="y" value="1"/>
+            <arg name="z" value="0"/>
+            <arg name="R" value="0"/>
+            <arg name="P" value="0"/>
+            <arg name="Y" value="0"/>
+            <arg name="vehicle" value="$(arg vehicle)"/>
+            <arg name="mavlink_udp_port" value="14562"/>
+            <arg name="mavlink_tcp_port" value="4562"/>
+            <arg name="ID" value="$(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="$(eval 1 + arg('ID'))"/>
+            <arg name="tgt_component" value="1"/>
+        </include>
+    </group>
+</launch>
+<!-- to add more UAVs (up to 10):
+Increase the id
+Change the name space
+Set the FCU to default="udp://:14540+id@localhost:14550+id"
+Set the malink_udp_port to 14560+id) -->
diff --git a/launch/single_vehicle_spawn_sdf.launch b/launch/single_vehicle_spawn_sdf.launch
new file mode 100644
index 0000000000..3c4253ea93
--- /dev/null
+++ b/launch/single_vehicle_spawn_sdf.launch
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<launch>
+    <!-- Posix SITL environment launch script -->
+    <!-- launchs PX4 SITL and spawns vehicle -->
+    <!-- vehicle pose -->
+    <arg name="x" default="0"/>
+    <arg name="y" default="0"/>
+    <arg name="z" default="0"/>
+    <arg name="R" default="0"/>
+    <arg name="P" default="0"/>
+    <arg name="Y" default="0"/>
+    <!-- vehcile model and config -->
+    <arg name="est" default="ekf2"/>
+    <arg name="vehicle" default="plane"/>
+    <arg name="ID" default="1"/>
+    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
+    <env name="PX4_ESTIMATOR" value="$(arg est)" />
+    <arg name="mavlink_udp_port" default="14560"/>
+    <arg name="mavlink_tcp_port" default="4560"/>
+    <!-- PX4 configs -->
+    <arg name="interactive" default="true"/>
+    <!-- generate sdf vehicle model -->
+    <arg name="cmd" default="xmlstarlet ed -d '//plugin[@name=&quot;mavlink_interface&quot;]/mavlink_tcp_port' -s '//plugin[@name=&quot;mavlink_interface&quot;]' -t elem -n mavlink_tcp_port -v $(arg mavlink_tcp_port) $(find px4)/Tools/sitl_gazebo/models/$(arg vehicle)/$(arg vehicle).sdf"/>
+    <param command="$(arg cmd)" name="model_description"/>
+    <!-- PX4 SITL -->
+    <arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
+    <arg     if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
+    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
+    </node>
+    <!-- spawn vehicle -->
+    <node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-sdf -param model_description -model $(arg vehicle)_$(arg ID) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
+</launch>