From 79651ed6a4a687cfb86d5897efcfe9d15c285e49 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Mon, 13 May 2019 10:35:09 +0200
Subject: [PATCH] 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.
---
 launch/multi_uav_mavros_sitl.launch | 59 ++++++++++++++---------------
 1 file changed, 29 insertions(+), 30 deletions(-)

diff --git a/launch/multi_uav_mavros_sitl.launch b/launch/multi_uav_mavros_sitl.launch
index 560ebd1621..279d027cc1 100644
--- a/launch/multi_uav_mavros_sitl.launch
+++ b/launch/multi_uav_mavros_sitl.launch
@@ -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