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launch: count multi UAVs from 0 

This fixes the IDs of multi UAVs started with ROS/Gazebo.

Previously the 3 vehicles were displayed in QGC as Vehicle 2, 3, 4.
With this change it is more intuitive Vehicle 1, 2, 3 and this is
also consistent with the way it is documented and how it is in
jMAVSim.
This commit is contained in:
Julian Oes 2019-05-13 10:35:09 +02:00 committed by Lorenz Meier
parent 77097b6adc
commit 79651ed6a4
1 changed files with 29 additions and 30 deletions
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59
launch/multi_uav_mavros_sitl.launch
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@ -19,6 +19,32 @@
<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="$(find px4)/launch/single_vehicle_spawn.launch">
<arg name="x" value="0"/>
<arg name="y" value="0"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="$(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 -->
@ -26,7 +52,7 @@
<arg name="fcu_url" default="udp://:14541@localhost:14581"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn.launch">
<arg name="x" value="0"/>
<arg name="x" value="1"/>
<arg name="y" value="0"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
@ -52,8 +78,8 @@
<arg name="fcu_url" default="udp://:14542@localhost:14582"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn.launch">
<arg name="x" value="1"/>
<arg name="y" value="0"/>
<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"/>
@ -71,33 +97,6 @@
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- UAV3 -->
<group ns="uav3">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="3"/>
<arg name="fcu_url" default="udp://:14543@localhost:14583"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn.launch">
<arg name="x" value="0"/>
<arg name="y" value="1"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="mavlink_udp_port" value="14563"/>
<arg name="mavlink_tcp_port" value="4563"/>
<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