forked from Archive/PX4-Autopilot
launch: multiple sdf models (#12306)
This commit is contained in:
Anthony Lamping
Daniel Agar
parent
6fcc4cc6a2
commit
49966f4c46
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<?xml version="1.0"?>
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<launch>
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<!-- MAVROS posix SITL environment launch script -->
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<!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
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<!-- vehicle model and world -->
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<arg name="est" default="ekf2"/>
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<arg name="vehicle" default="plane"/>
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<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
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<!-- gazebo configs -->
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<arg name="gui" default="true"/>
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<arg name="debug" default="false"/>
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<arg name="verbose" default="false"/>
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<arg name="paused" default="false"/>
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<!-- Gazebo sim -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="gui" value="$(arg gui)"/>
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<arg name="world_name" value="$(arg world)"/>
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<arg name="debug" value="$(arg debug)"/>
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<arg name="verbose" value="$(arg verbose)"/>
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<arg name="paused" value="$(arg paused)"/>
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</include>
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<!-- UAV0 -->
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<group ns="uav0">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="0"/>
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<arg name="fcu_url" default="udp://:14540@localhost:14580"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="0"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="$(arg vehicle)"/>
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<arg name="mavlink_udp_port" value="14560"/>
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<arg name="mavlink_tcp_port" value="4560"/>
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<arg name="ID" value="$(arg ID)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 0 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- UAV1 -->
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<group ns="uav1">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="1"/>
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<arg name="fcu_url" default="udp://:14541@localhost:14581"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
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<arg name="x" value="1"/>
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<arg name="y" value="0"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="$(arg vehicle)"/>
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<arg name="mavlink_udp_port" value="14561"/>
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<arg name="mavlink_tcp_port" value="4561"/>
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<arg name="ID" value="$(arg ID)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- UAV2 -->
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<group ns="uav2">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="2"/>
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<arg name="fcu_url" default="udp://:14542@localhost:14582"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="1"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="$(arg vehicle)"/>
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<arg name="mavlink_udp_port" value="14562"/>
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<arg name="mavlink_tcp_port" value="4562"/>
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<arg name="ID" value="$(arg ID)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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</launch>
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<!-- to add more UAVs (up to 10):
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Increase the id
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Change the name space
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Set the FCU to default="udp://:14540+id@localhost:14550+id"
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Set the malink_udp_port to 14560+id) -->
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@ -0,0 +1,32 @@
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<?xml version="1.0"?>
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<launch>
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<!-- Posix SITL environment launch script -->
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<!-- launchs PX4 SITL and spawns vehicle -->
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<!-- vehicle pose -->
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<arg name="x" default="0"/>
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<arg name="y" default="0"/>
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<arg name="z" default="0"/>
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<arg name="R" default="0"/>
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<arg name="P" default="0"/>
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<arg name="Y" default="0"/>
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<!-- vehcile model and config -->
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<arg name="est" default="ekf2"/>
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<arg name="vehicle" default="plane"/>
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<arg name="ID" default="1"/>
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<env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
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<env name="PX4_ESTIMATOR" value="$(arg est)" />
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<arg name="mavlink_udp_port" default="14560"/>
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<arg name="mavlink_tcp_port" default="4560"/>
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<!-- PX4 configs -->
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<arg name="interactive" default="true"/>
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<!-- generate sdf vehicle model -->
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<arg name="cmd" default="xmlstarlet ed -d '//plugin[@name="mavlink_interface"]/mavlink_tcp_port' -s '//plugin[@name="mavlink_interface"]' -t elem -n mavlink_tcp_port -v $(arg mavlink_tcp_port) $(find px4)/Tools/sitl_gazebo/models/$(arg vehicle)/$(arg vehicle).sdf"/>
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<param command="$(arg cmd)" name="model_description"/>
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<!-- PX4 SITL -->
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<arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
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<arg if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
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<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) $(arg px4_command_arg1)">
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</node>
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<!-- spawn vehicle -->
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<node name="$(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)"/>
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</launch>
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