forked from xtdrone/XTDrone
Merge branch 'master' of gitee.com:robin_shaun/XTDrone
This commit is contained in:
commit
2ea9790f37
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@ -1,4 +1,4 @@
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#-*-coding：gbk-*-
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import sys
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welcome_msg = """
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@ -52,11 +52,13 @@ print(welcome_msg)
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TYPE_ID = 4
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num_of_all = 0
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||||
num_of_type = [0]*8
|
||||
row_of_type = [0]*8
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||||
|
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while TYPE_ID != 'f':
|
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TYPE_ID = input(input_msg)
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||||
if TYPE_ID>='0' and TYPE_ID<='7':
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num_of_type[int(TYPE_ID)] = int( input("Enter the num of "+ID_TYPE_DICT[int(TYPE_ID)]+" :" ) )
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num_of_type[int(TYPE_ID)] += int( input("Enter the num of "+ID_TYPE_DICT[int(TYPE_ID)]+" :" ) )
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row_of_type[int(TYPE_ID)] += int( input("Enter the row num of "+ID_TYPE_DICT[int(TYPE_ID)]+" :" ) )
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elif TYPE_ID == 'f':
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for i in range(7):
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if num_of_type[i] != 0:
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|
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@ -65,7 +67,7 @@ while TYPE_ID != 'f':
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else:
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print("error!please enter a id_in_allber between 0 to 7!")
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|
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num_of_all = sum(num_of_type)
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sum_of_row = sum(row_of_type)
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|
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@ -80,11 +82,11 @@ with open('launch_temp_1.11','r') as f:
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with open('multi_vehicle.launch','w') as f:
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f.write(launch_head)
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row_num = 0
|
||||
row_in_all = 0
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||||
id_in_all = 0
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||||
for type_id in range(8):
|
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type_num = num_of_type[type_id]
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|
||||
row_in_type = row_of_type[type_id]
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sdf_name = ID_TYPE_DICT[type_id]
|
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# For example,
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# While "iris_stereo_camera" is the model name,
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|
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@ -96,7 +98,7 @@ with open('multi_vehicle.launch','w') as f:
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type_name = sdf_name.split('_')[0]
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||||
|
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if type_num > 0:
|
||||
row_num +=1
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for id_in_type in range(0,type_num):
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mavlink_1=34570-1+id_in_all*2
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@ -124,13 +126,14 @@ with open('multi_vehicle.launch','w') as f:
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elif '''<arg name="sdf" value=''' in line:
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f.write(''' <arg name="sdf" value="%s"/>\n'''%sdf_name)
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elif '''name="x"''' in line:
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f.write(''' <arg name="x" value="%d"/>\n'''%( (row_num-1)*3 ) )
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f.write(''' <arg name="x" value="%d"/>\n'''%(row_in_all*3 + ( id_in_type//row_in_type +1)*3 ) )
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elif '''name="y"''' in line:
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f.write(''' <arg name="y" value="%d"/>\n''' %(id_in_type*3) )
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f.write(''' <arg name="y" value="%d"/>\n''' %((id_in_type%row_in_type +1)*3) )
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else:
|
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f.write('%s' %line)
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||||
f.write("\n")
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id_in_all+=1
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row_in_all += row_in_type
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||||
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||||
|
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|
|
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@ -26,14 +26,14 @@
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<arg name="fcu_url" default="udp://:14540@127.0.0.1:34570"/>
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||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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||||
<arg name="x" value="0"/>
|
||||
<arg name="y" value="0"/>
|
||||
<arg name="x" value="3"/>
|
||||
<arg name="y" value="3"/>
|
||||
<arg name="z" value="0"/>
|
||||
<arg name="R" value="0"/>
|
||||
<arg name="P" value="0"/>
|
||||
<arg name="Y" value="0"/>
|
||||
<arg name="vehicle" value="iris"/>
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||||
<arg name="sdf" value="iris_stereo_camera"/>
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||||
<arg name="vehicle" value="rover"/>
|
||||
<arg name="sdf" value="rover_with_sensors"/>
|
||||
<arg name="mavlink_udp_port" value="24560"/>
|
||||
<arg name="mavlink_tcp_port" value="4560"/>
|
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<arg name="ID" value="$(arg ID)"/>
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@ -47,22 +47,22 @@
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<arg name="tgt_component" value="1"/>
|
||||
</include>
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||||
</group>
|
||||
<!-- iris_1 -->
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||||
<group ns="iris_1">
|
||||
<!-- rover_1 -->
|
||||
<group ns="rover_1">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="1"/>
|
||||
<arg name="ID_in_group" value="1"/>
|
||||
<arg name="fcu_url" default="udp://:14541@127.0.0.1:34572"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="0"/>
|
||||
<arg name="y" value="3"/>
|
||||
<arg name="x" value="3"/>
|
||||
<arg name="y" value="6"/>
|
||||
<arg name="z" value="0"/>
|
||||
<arg name="R" value="0"/>
|
||||
<arg name="P" value="0"/>
|
||||
<arg name="Y" value="0"/>
|
||||
<arg name="vehicle" value="iris"/>
|
||||
<arg name="sdf" value="iris_stereo_camera"/>
|
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<arg name="vehicle" value="rover"/>
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<arg name="sdf" value="rover_with_sensors"/>
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||||
<arg name="mavlink_udp_port" value="24562"/>
|
||||
<arg name="mavlink_tcp_port" value="4561"/>
|
||||
<arg name="ID" value="$(arg ID)"/>
|
||||
|
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@ -76,22 +76,22 @@
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|||
<arg name="tgt_component" value="1"/>
|
||||
</include>
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||||
</group>
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||||
<!-- iris_2 -->
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<group ns="iris_2">
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<!-- rover_2 -->
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<group ns="rover_2">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="2"/>
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<arg name="ID_in_group" value="2"/>
|
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<arg name="fcu_url" default="udp://:14542@127.0.0.1:34574"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="0"/>
|
||||
<arg name="y" value="6"/>
|
||||
<arg name="x" value="3"/>
|
||||
<arg name="y" value="9"/>
|
||||
<arg name="z" value="0"/>
|
||||
<arg name="R" value="0"/>
|
||||
<arg name="P" value="0"/>
|
||||
<arg name="Y" value="0"/>
|
||||
<arg name="vehicle" value="iris"/>
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||||
<arg name="sdf" value="iris_stereo_camera"/>
|
||||
<arg name="vehicle" value="rover"/>
|
||||
<arg name="sdf" value="rover_with_sensors"/>
|
||||
<arg name="mavlink_udp_port" value="24564"/>
|
||||
<arg name="mavlink_tcp_port" value="4562"/>
|
||||
<arg name="ID" value="$(arg ID)"/>
|
||||
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|
@ -105,22 +105,22 @@
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|||
<arg name="tgt_component" value="1"/>
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||||
</include>
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||||
</group>
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||||
<!-- iris_3 -->
|
||||
<group ns="iris_3">
|
||||
<!-- rover_3 -->
|
||||
<group ns="rover_3">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="3"/>
|
||||
<arg name="ID_in_group" value="3"/>
|
||||
<arg name="fcu_url" default="udp://:14543@127.0.0.1:34576"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="0"/>
|
||||
<arg name="y" value="9"/>
|
||||
<arg name="x" value="6"/>
|
||||
<arg name="y" value="3"/>
|
||||
<arg name="z" value="0"/>
|
||||
<arg name="R" value="0"/>
|
||||
<arg name="P" value="0"/>
|
||||
<arg name="Y" value="0"/>
|
||||
<arg name="vehicle" value="iris"/>
|
||||
<arg name="sdf" value="iris_stereo_camera"/>
|
||||
<arg name="vehicle" value="rover"/>
|
||||
<arg name="sdf" value="rover_with_sensors"/>
|
||||
<arg name="mavlink_udp_port" value="24566"/>
|
||||
<arg name="mavlink_tcp_port" value="4563"/>
|
||||
<arg name="ID" value="$(arg ID)"/>
|
||||
|
|
@ -134,24 +134,256 @@
|
|||
<arg name="tgt_component" value="1"/>
|
||||
</include>
|
||||
</group>
|
||||
<!-- iris_4 -->
|
||||
<group ns="iris_4">
|
||||
<!-- typhoon_h480_0 -->
|
||||
<group ns="typhoon_h480_0">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="4"/>
|
||||
<arg name="ID_in_group" value="4"/>
|
||||
<arg name="ID_in_group" value="0"/>
|
||||
<arg name="fcu_url" default="udp://:14544@127.0.0.1:34578"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="0"/>
|
||||
<arg name="x" value="12"/>
|
||||
<arg name="y" value="3"/>
|
||||
<arg name="z" value="0"/>
|
||||
<arg name="R" value="0"/>
|
||||
<arg name="P" value="0"/>
|
||||
<arg name="Y" value="0"/>
|
||||
<arg name="vehicle" value="typhoon_h480"/>
|
||||
<arg name="sdf" value="typhoon_h480_stereo"/>
|
||||
<arg name="mavlink_udp_port" value="24568"/>
|
||||
<arg name="mavlink_tcp_port" value="4564"/>
|
||||
<arg name="ID" value="$(arg ID)"/>
|
||||
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
|
||||
</include>
|
||||
<!-- MAVROS -->
|
||||
<include file="$(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>
|
||||
<!-- typhoon_h480_1 -->
|
||||
<group ns="typhoon_h480_1">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="5"/>
|
||||
<arg name="ID_in_group" value="1"/>
|
||||
<arg name="fcu_url" default="udp://:14545@127.0.0.1:34580"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="12"/>
|
||||
<arg name="y" value="6"/>
|
||||
<arg name="z" value="0"/>
|
||||
<arg name="R" value="0"/>
|
||||
<arg name="P" value="0"/>
|
||||
<arg name="Y" value="0"/>
|
||||
<arg name="vehicle" value="typhoon_h480"/>
|
||||
<arg name="sdf" value="typhoon_h480_stereo"/>
|
||||
<arg name="mavlink_udp_port" value="24570"/>
|
||||
<arg name="mavlink_tcp_port" value="4565"/>
|
||||
<arg name="ID" value="$(arg ID)"/>
|
||||
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
|
||||
</include>
|
||||
<!-- MAVROS -->
|
||||
<include file="$(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>
|
||||
<!-- typhoon_h480_2 -->
|
||||
<group ns="typhoon_h480_2">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="6"/>
|
||||
<arg name="ID_in_group" value="2"/>
|
||||
<arg name="fcu_url" default="udp://:14546@127.0.0.1:34582"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="12"/>
|
||||
<arg name="y" value="9"/>
|
||||
<arg name="z" value="0"/>
|
||||
<arg name="R" value="0"/>
|
||||
<arg name="P" value="0"/>
|
||||
<arg name="Y" value="0"/>
|
||||
<arg name="vehicle" value="typhoon_h480"/>
|
||||
<arg name="sdf" value="typhoon_h480_stereo"/>
|
||||
<arg name="mavlink_udp_port" value="24572"/>
|
||||
<arg name="mavlink_tcp_port" value="4566"/>
|
||||
<arg name="ID" value="$(arg ID)"/>
|
||||
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
|
||||
</include>
|
||||
<!-- MAVROS -->
|
||||
<include file="$(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>
|
||||
<!-- typhoon_h480_3 -->
|
||||
<group ns="typhoon_h480_3">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="7"/>
|
||||
<arg name="ID_in_group" value="3"/>
|
||||
<arg name="fcu_url" default="udp://:14547@127.0.0.1:34584"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="12"/>
|
||||
<arg name="y" value="12"/>
|
||||
<arg name="z" value="0"/>
|
||||
<arg name="R" value="0"/>
|
||||
<arg name="P" value="0"/>
|
||||
<arg name="Y" value="0"/>
|
||||
<arg name="vehicle" value="iris"/>
|
||||
<arg name="sdf" value="iris_stereo_camera"/>
|
||||
<arg name="mavlink_udp_port" value="24568"/>
|
||||
<arg name="mavlink_tcp_port" value="4564"/>
|
||||
<arg name="vehicle" value="typhoon_h480"/>
|
||||
<arg name="sdf" value="typhoon_h480_stereo"/>
|
||||
<arg name="mavlink_udp_port" value="24574"/>
|
||||
<arg name="mavlink_tcp_port" value="4567"/>
|
||||
<arg name="ID" value="$(arg ID)"/>
|
||||
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
|
||||
</include>
|
||||
<!-- MAVROS -->
|
||||
<include file="$(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>
|
||||
<!-- solo_0 -->
|
||||
<group ns="solo_0">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="8"/>
|
||||
<arg name="ID_in_group" value="0"/>
|
||||
<arg name="fcu_url" default="udp://:14548@127.0.0.1:34586"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="24"/>
|
||||
<arg name="y" value="3"/>
|
||||
<arg name="z" value="0"/>
|
||||
<arg name="R" value="0"/>
|
||||
<arg name="P" value="0"/>
|
||||
<arg name="Y" value="0"/>
|
||||
<arg name="vehicle" value="solo"/>
|
||||
<arg name="sdf" value="solo_stereo_camera"/>
|
||||
<arg name="mavlink_udp_port" value="24576"/>
|
||||
<arg name="mavlink_tcp_port" value="4568"/>
|
||||
<arg name="ID" value="$(arg ID)"/>
|
||||
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
|
||||
</include>
|
||||
<!-- MAVROS -->
|
||||
<include file="$(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>
|
||||
<!-- solo_1 -->
|
||||
<group ns="solo_1">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="9"/>
|
||||
<arg name="ID_in_group" value="1"/>
|
||||
<arg name="fcu_url" default="udp://:14549@127.0.0.1:34588"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="24"/>
|
||||
<arg name="y" value="6"/>
|
||||
<arg name="z" value="0"/>
|
||||
<arg name="R" value="0"/>
|
||||
<arg name="P" value="0"/>
|
||||
<arg name="Y" value="0"/>
|
||||
<arg name="vehicle" value="solo"/>
|
||||
<arg name="sdf" value="solo_stereo_camera"/>
|
||||
<arg name="mavlink_udp_port" value="24578"/>
|
||||
<arg name="mavlink_tcp_port" value="4569"/>
|
||||
<arg name="ID" value="$(arg ID)"/>
|
||||
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
|
||||
</include>
|
||||
<!-- MAVROS -->
|
||||
<include file="$(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>
|
||||
<!-- solo_2 -->
|
||||
<group ns="solo_2">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="10"/>
|
||||
<arg name="ID_in_group" value="2"/>
|
||||
<arg name="fcu_url" default="udp://:14550@127.0.0.1:34590"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="27"/>
|
||||
<arg name="y" value="3"/>
|
||||
<arg name="z" value="0"/>
|
||||
<arg name="R" value="0"/>
|
||||
<arg name="P" value="0"/>
|
||||
<arg name="Y" value="0"/>
|
||||
<arg name="vehicle" value="solo"/>
|
||||
<arg name="sdf" value="solo_stereo_camera"/>
|
||||
<arg name="mavlink_udp_port" value="24580"/>
|
||||
<arg name="mavlink_tcp_port" value="4570"/>
|
||||
<arg name="ID" value="$(arg ID)"/>
|
||||
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
|
||||
</include>
|
||||
<!-- MAVROS -->
|
||||
<include file="$(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>
|
||||
<!-- solo_3 -->
|
||||
<group ns="solo_3">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="11"/>
|
||||
<arg name="ID_in_group" value="3"/>
|
||||
<arg name="fcu_url" default="udp://:14551@127.0.0.1:34592"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="27"/>
|
||||
<arg name="y" value="6"/>
|
||||
<arg name="z" value="0"/>
|
||||
<arg name="R" value="0"/>
|
||||
<arg name="P" value="0"/>
|
||||
<arg name="Y" value="0"/>
|
||||
<arg name="vehicle" value="solo"/>
|
||||
<arg name="sdf" value="solo_stereo_camera"/>
|
||||
<arg name="mavlink_udp_port" value="24582"/>
|
||||
<arg name="mavlink_tcp_port" value="4571"/>
|
||||
<arg name="ID" value="$(arg ID)"/>
|
||||
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
|
||||
</include>
|
||||
<!-- MAVROS -->
|
||||
<include file="$(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>
|
||||
<!-- solo_4 -->
|
||||
<group ns="solo_4">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="12"/>
|
||||
<arg name="ID_in_group" value="4"/>
|
||||
<arg name="fcu_url" default="udp://:14552@127.0.0.1:34594"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="30"/>
|
||||
<arg name="y" value="3"/>
|
||||
<arg name="z" value="0"/>
|
||||
<arg name="R" value="0"/>
|
||||
<arg name="P" value="0"/>
|
||||
<arg name="Y" value="0"/>
|
||||
<arg name="vehicle" value="solo"/>
|
||||
<arg name="sdf" value="solo_stereo_camera"/>
|
||||
<arg name="mavlink_udp_port" value="24584"/>
|
||||
<arg name="mavlink_tcp_port" value="4572"/>
|
||||
<arg name="ID" value="$(arg ID)"/>
|
||||
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
|
||||
</include>
|
||||
|
|
|
|||
Loading…
Reference in New Issue