dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

ROS multi-vehicle simulation: fixed udp port overlap issues

This commit is contained in:
Kunal Shah 2018-09-10 13:05:02 -07:00 committed by Beat Küng
parent 370fddc115
commit 7f016b5fd4
No known key found for this signature in database
GPG Key ID: 866DB5F0E24821BB
2 changed files with 38 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ROMFS/px4fmu_common/init.d-posix/rcS
View File

@ -81,11 +81,11 @@ fi
# multi-instance setup
# shellcheck disable=SC2154
param set MAV_SYS_ID $((1+px4_instance))
param set MAV_SYS_ID $((px4_instance+1))
simulator_udp_port=$((14560+px4_instance))
udp_offboard_port_local=$((14557+px4_instance))
udp_offboard_port_local=$((14580+px4_instance))
udp_offboard_port_remote=$((14540+px4_instance))
udp_gcs_port_local=$((14556+px4_instance))
udp_gcs_port_local=$((14570+px4_instance))
if [ $AUTOCNF = yes ]
then

39
launch/multi_uav_mavros_sitl.launch
View File

@ -23,7 +23,7 @@
<group ns="uav1">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="1"/>
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
<arg name="fcu_url" default="udp://:14541@localhost:14581"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn.launch">
<arg name="x" value="0"/>
@ -40,7 +40,7 @@
<include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="gcs_url" value=""/>
<arg name="tgt_system" value="$(arg ID)"/>
<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
@ -48,7 +48,7 @@
<group ns="uav2">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="2"/>
<arg name="fcu_url" default="udp://:14541@localhost:14558"/>
<arg name="fcu_url" default="udp://:14542@localhost:14582"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn.launch">
<arg name="x" value="1"/>
@ -65,8 +65,39 @@
<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="$(arg ID)"/>
<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
<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="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) -->