forked from xtdrone/XTDrone
fix more than 10 vehicle can not connect the MAVROS
This commit is contained in:
parent
6e96f9db3e
commit
519aa55235
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@ -6,4 +6,5 @@ project
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*.pbstream
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sensing/slam/vio/VINS-Fusion/camera_models/camera_calib_example
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.gitee
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.vscode
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.vscode
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.idea
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@ -82,7 +82,7 @@ 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_in_all = 0
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id_in_all = 1
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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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@ -100,11 +100,9 @@ with open('multi_vehicle.launch','w') as f:
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if type_num > 0:
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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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mavlink_2=mavlink_1+1
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onboard=14540+id_in_all
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SITL=24560+(id_in_all)*2
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offboard_local=34580+id_in_all
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offboard_remote=24540+id_in_all
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SITL=18570+id_in_all
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TCP=4560+id_in_all
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for line in launch_lines:
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if "<!-- UAV" in line:
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@ -116,7 +114,7 @@ with open('multi_vehicle.launch','w') as f:
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elif '''<arg name="ID_in_group" value="0"/>''' in line:
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f.write(''' <arg name="ID_in_group" value="%d"/>\n''' %id_in_type)
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elif "udp://:" in line:
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f.write(''' <arg name="fcu_url" default="udp://:%d@localhost:%d"/>\n''' %(onboard,mavlink_2))
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f.write(''' <arg name="fcu_url" default="udp://:%d@localhost:%d"/>\n''' %(offboard_remote,offboard_local))
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elif "mavlink_udp_port" in line:
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f.write(''' <arg name="mavlink_udp_port" value="%d"/>\n'''%SITL)
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elif "mavlink_tcp_port" in line:
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@ -21,9 +21,9 @@
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<!-- iris_0 -->
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<group ns="iris_0">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="1"/>
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<arg name="ID" value="0"/>
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<arg name="ID_in_group" value="0"/>
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<arg name="fcu_url" default="udp://:14541@localhost:34572"/>
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<arg name="fcu_url" default="udp://:24540@localhost:34580"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="0"/>
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@ -34,8 +34,8 @@
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="24562"/>
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<arg name="mavlink_tcp_port" value="4561"/>
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<arg name="mavlink_udp_port" value="18570"/>
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<arg name="mavlink_tcp_port" value="4560"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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@ -50,9 +50,9 @@
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<!-- iris_1 -->
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<group ns="iris_1">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="2"/>
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<arg name="ID" value="1"/>
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<arg name="ID_in_group" value="1"/>
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<arg name="fcu_url" default="udp://:14542@localhost:34574"/>
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<arg name="fcu_url" default="udp://:24541@localhost:34581"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="3"/>
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@ -63,8 +63,8 @@
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="24564"/>
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<arg name="mavlink_tcp_port" value="4562"/>
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<arg name="mavlink_udp_port" value="18571"/>
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<arg name="mavlink_tcp_port" value="4561"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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@ -79,21 +79,21 @@
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<!-- iris_2 -->
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<group ns="iris_2">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="3"/>
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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://:14543@localhost:34576"/>
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<arg name="fcu_url" default="udp://:24542@localhost:34582"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="6"/>
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<arg name="x" value="6"/>
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<arg name="y" value="3"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="24566"/>
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<arg name="mavlink_tcp_port" value="4563"/>
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<arg name="mavlink_udp_port" value="18572"/>
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<arg name="mavlink_tcp_port" value="4562"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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@ -108,12 +108,12 @@
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<!-- iris_3 -->
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<group ns="iris_3">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="4"/>
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<arg name="ID" value="3"/>
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<arg name="ID_in_group" value="3"/>
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<arg name="fcu_url" default="udp://:14544@localhost:34578"/>
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<arg name="fcu_url" default="udp://:24543@localhost:34583"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="3"/>
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<arg name="x" value="0"/>
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<arg name="y" value="6"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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@ -121,8 +121,8 @@
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="24568"/>
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<arg name="mavlink_tcp_port" value="4564"/>
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<arg name="mavlink_udp_port" value="18573"/>
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<arg name="mavlink_tcp_port" value="4563"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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@ -137,21 +137,21 @@
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<!-- iris_4 -->
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<group ns="iris_4">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="5"/>
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<arg name="ID" value="4"/>
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<arg name="ID_in_group" value="4"/>
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<arg name="fcu_url" default="udp://:14545@localhost:34580"/>
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<arg name="fcu_url" default="udp://:24544@localhost:34584"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="9"/>
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<arg name="x" value="3"/>
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<arg name="y" value="6"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="24570"/>
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<arg name="mavlink_tcp_port" value="4565"/>
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<arg name="mavlink_udp_port" value="18574"/>
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<arg name="mavlink_tcp_port" value="4564"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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@ -166,9 +166,67 @@
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<!-- iris_5 -->
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<group ns="iris_5">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="6"/>
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<arg name="ID" value="5"/>
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<arg name="ID_in_group" value="5"/>
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<arg name="fcu_url" default="udp://:14546@localhost:34582"/>
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<arg name="fcu_url" default="udp://:24545@localhost:34585"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="6"/>
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<arg name="y" value="6"/>
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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="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18575"/>
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<arg name="mavlink_tcp_port" value="4565"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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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="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_6 -->
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<group ns="iris_6">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="6"/>
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<arg name="ID_in_group" value="6"/>
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<arg name="fcu_url" default="udp://:24546@localhost:34586"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="9"/>
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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="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18576"/>
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<arg name="mavlink_tcp_port" value="4566"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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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="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_7 -->
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<group ns="iris_7">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="7"/>
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<arg name="ID_in_group" value="7"/>
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<arg name="fcu_url" default="udp://:24547@localhost:34587"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="3"/>
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@ -179,8 +237,443 @@
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="24572"/>
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<arg name="mavlink_tcp_port" value="4566"/>
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<arg name="mavlink_udp_port" value="18577"/>
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<arg name="mavlink_tcp_port" value="4567"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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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="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_8 -->
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<group ns="iris_8">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="8"/>
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<arg name="ID_in_group" value="8"/>
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<arg name="fcu_url" default="udp://:24548@localhost:34588"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="6"/>
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<arg name="y" value="9"/>
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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="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18578"/>
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<arg name="mavlink_tcp_port" value="4568"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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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="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_9 -->
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<group ns="iris_9">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="9"/>
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<arg name="ID_in_group" value="9"/>
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<arg name="fcu_url" default="udp://:24549@localhost:34589"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="12"/>
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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="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18579"/>
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<arg name="mavlink_tcp_port" value="4569"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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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="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_10 -->
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<group ns="iris_10">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="10"/>
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<arg name="ID_in_group" value="10"/>
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<arg name="fcu_url" default="udp://:24550@localhost:34590"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="3"/>
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<arg name="y" value="12"/>
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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="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18580"/>
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<arg name="mavlink_tcp_port" value="4570"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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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="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_11 -->
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<group ns="iris_11">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="11"/>
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<arg name="ID_in_group" value="11"/>
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<arg name="fcu_url" default="udp://:24551@localhost:34591"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="6"/>
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<arg name="y" value="12"/>
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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="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18581"/>
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<arg name="mavlink_tcp_port" value="4571"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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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)"/>
|
||||
<arg name="gcs_url" value=""/>
|
||||
<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
|
||||
<arg name="tgt_component" value="1"/>
|
||||
</include>
|
||||
</group>
|
||||
<!-- iris_12 -->
|
||||
<group ns="iris_12">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="12"/>
|
||||
<arg name="ID_in_group" value="12"/>
|
||||
<arg name="fcu_url" default="udp://:24552@localhost:34592"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="0"/>
|
||||
<arg name="y" value="15"/>
|
||||
<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="18582"/>
|
||||
<arg name="mavlink_tcp_port" value="4572"/>
|
||||
<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="$(eval 1 + arg('ID'))"/>
|
||||
<arg name="tgt_component" value="1"/>
|
||||
</include>
|
||||
</group>
|
||||
<!-- iris_13 -->
|
||||
<group ns="iris_13">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="13"/>
|
||||
<arg name="ID_in_group" value="13"/>
|
||||
<arg name="fcu_url" default="udp://:24553@localhost:34593"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="3"/>
|
||||
<arg name="y" value="15"/>
|
||||
<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="18583"/>
|
||||
<arg name="mavlink_tcp_port" value="4573"/>
|
||||
<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="$(eval 1 + arg('ID'))"/>
|
||||
<arg name="tgt_component" value="1"/>
|
||||
</include>
|
||||
</group>
|
||||
<!-- iris_14 -->
|
||||
<group ns="iris_14">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="14"/>
|
||||
<arg name="ID_in_group" value="14"/>
|
||||
<arg name="fcu_url" default="udp://:24554@localhost:34594"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="6"/>
|
||||
<arg name="y" value="15"/>
|
||||
<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="18584"/>
|
||||
<arg name="mavlink_tcp_port" value="4574"/>
|
||||
<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="$(eval 1 + arg('ID'))"/>
|
||||
<arg name="tgt_component" value="1"/>
|
||||
</include>
|
||||
</group>
|
||||
<!-- iris_15 -->
|
||||
<group ns="iris_15">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="15"/>
|
||||
<arg name="ID_in_group" value="15"/>
|
||||
<arg name="fcu_url" default="udp://:24555@localhost:34595"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="0"/>
|
||||
<arg name="y" value="18"/>
|
||||
<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="18585"/>
|
||||
<arg name="mavlink_tcp_port" value="4575"/>
|
||||
<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="$(eval 1 + arg('ID'))"/>
|
||||
<arg name="tgt_component" value="1"/>
|
||||
</include>
|
||||
</group>
|
||||
<!-- iris_16 -->
|
||||
<group ns="iris_16">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="16"/>
|
||||
<arg name="ID_in_group" value="16"/>
|
||||
<arg name="fcu_url" default="udp://:24556@localhost:34596"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="3"/>
|
||||
<arg name="y" value="18"/>
|
||||
<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="18586"/>
|
||||
<arg name="mavlink_tcp_port" value="4576"/>
|
||||
<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="$(eval 1 + arg('ID'))"/>
|
||||
<arg name="tgt_component" value="1"/>
|
||||
</include>
|
||||
</group>
|
||||
<!-- iris_17 -->
|
||||
<group ns="iris_17">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="17"/>
|
||||
<arg name="ID_in_group" value="17"/>
|
||||
<arg name="fcu_url" default="udp://:24557@localhost:34597"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="6"/>
|
||||
<arg name="y" value="18"/>
|
||||
<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="18587"/>
|
||||
<arg name="mavlink_tcp_port" value="4577"/>
|
||||
<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="$(eval 1 + arg('ID'))"/>
|
||||
<arg name="tgt_component" value="1"/>
|
||||
</include>
|
||||
</group>
|
||||
<!-- iris_18 -->
|
||||
<group ns="iris_18">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="18"/>
|
||||
<arg name="ID_in_group" value="18"/>
|
||||
<arg name="fcu_url" default="udp://:24558@localhost:34598"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="0"/>
|
||||
<arg name="y" value="21"/>
|
||||
<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="18588"/>
|
||||
<arg name="mavlink_tcp_port" value="4578"/>
|
||||
<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="$(eval 1 + arg('ID'))"/>
|
||||
<arg name="tgt_component" value="1"/>
|
||||
</include>
|
||||
</group>
|
||||
<!-- iris_19 -->
|
||||
<group ns="iris_19">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="19"/>
|
||||
<arg name="ID_in_group" value="19"/>
|
||||
<arg name="fcu_url" default="udp://:24559@localhost:34599"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="3"/>
|
||||
<arg name="y" value="21"/>
|
||||
<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="18589"/>
|
||||
<arg name="mavlink_tcp_port" value="4579"/>
|
||||
<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="$(eval 1 + arg('ID'))"/>
|
||||
<arg name="tgt_component" value="1"/>
|
||||
</include>
|
||||
</group>
|
||||
<!-- iris_20 -->
|
||||
<group ns="iris_20">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="20"/>
|
||||
<arg name="ID_in_group" value="20"/>
|
||||
<arg name="fcu_url" default="udp://:24560@localhost:34600"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="6"/>
|
||||
<arg name="y" value="21"/>
|
||||
<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="18590"/>
|
||||
<arg name="mavlink_tcp_port" value="4580"/>
|
||||
<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="$(eval 1 + arg('ID'))"/>
|
||||
<arg name="tgt_component" value="1"/>
|
||||
</include>
|
||||
</group>
|
||||
<!-- iris_21 -->
|
||||
<group ns="iris_21">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="21"/>
|
||||
<arg name="ID_in_group" value="21"/>
|
||||
<arg name="fcu_url" default="udp://:24561@localhost:34601"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="0"/>
|
||||
<arg name="y" value="24"/>
|
||||
<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="18591"/>
|
||||
<arg name="mavlink_tcp_port" value="4581"/>
|
||||
<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="$(eval 1 + arg('ID'))"/>
|
||||
<arg name="tgt_component" value="1"/>
|
||||
</include>
|
||||
</group>
|
||||
<!-- iris_22 -->
|
||||
<group ns="iris_22">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="22"/>
|
||||
<arg name="ID_in_group" value="22"/>
|
||||
<arg name="fcu_url" default="udp://:24562@localhost:34602"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="3"/>
|
||||
<arg name="y" value="24"/>
|
||||
<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="18592"/>
|
||||
<arg name="mavlink_tcp_port" value="4582"/>
|
||||
<arg name="ID" value="$(arg ID)"/>
|
||||
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
|
||||
</include>
|
||||
|
|
|
|||
|
|
@ -32,7 +32,8 @@ set PWM_OUT none
|
|||
set SDCARD_MIXERS_PATH etc/mixers
|
||||
set USE_IO no
|
||||
set VEHICLE_TYPE none
|
||||
set LOGGER_BUF 1000
|
||||
set LOGGER_ARGS ""
|
||||
set LOGGER_BUF 1000
|
||||
|
||||
set RUN_MINIMAL_SHELL no
|
||||
|
||||
|
|
@ -107,24 +108,24 @@ fi
|
|||
# shellcheck disable=SC2154
|
||||
param set MAV_SYS_ID $((px4_instance+1))
|
||||
simulator_tcp_port=$((4560+px4_instance))
|
||||
udp_offboard_port_local=$((14580+px4_instance))
|
||||
udp_offboard_port_remote=$((14540+px4_instance))
|
||||
[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
|
||||
udp_onboard_payload_port_local=$((14280+px4_instance))
|
||||
udp_onboard_payload_port_remote=$((14030+px4_instance))
|
||||
udp_offboard_port_local=$((34580+px4_instance))
|
||||
udp_offboard_port_remote=$((24540+px4_instance))
|
||||
#[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
|
||||
#udp_onboard_payload_port_local=$((14280+px4_instance))
|
||||
#udp_onboard_payload_port_remote=$((14030+px4_instance))
|
||||
udp_gcs_port_local=$((18570+px4_instance))
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set SYS_AUTOSTART $REQUESTED_AUTOSTART
|
||||
|
||||
param set BAT_N_CELLS 3
|
||||
param set BAT_N_CELLS 4
|
||||
|
||||
param set CAL_ACC0_ID 1311244
|
||||
param set CAL_ACC_PRIME 1311244
|
||||
|
||||
param set CAL_GYRO0_ID 2294028
|
||||
param set CAL_GYRO_PRIME 2294028
|
||||
param set CAL_GYRO0_ID 1311244
|
||||
param set CAL_GYRO_PRIME 1311244
|
||||
|
||||
param set CAL_MAG0_ID 197388
|
||||
param set CAL_MAG_PRIME 197388
|
||||
|
|
@ -132,21 +133,9 @@ then
|
|||
param set CBRK_AIRSPD_CHK 0
|
||||
param set CBRK_SUPPLY_CHK 894281
|
||||
|
||||
param set COM_DISARM_LAND 0.5
|
||||
param set COM_OBL_ACT 2
|
||||
param set COM_OBL_RC_ACT 0
|
||||
# Don't require RC calibration and configuration
|
||||
param set COM_RC_IN_MODE 1
|
||||
|
||||
# GPS used
|
||||
param set EKF2_AID_MASK 1
|
||||
# Vision used and GPS denied
|
||||
#param set EKF2_AID_MASK 24
|
||||
|
||||
# Barometer used for hight measurement
|
||||
param set EKF2_HGT_MODE 0
|
||||
# Barometer denied and vision used for hight measurement
|
||||
#param set EKF2_HGT_MODE 3
|
||||
|
||||
param set EKF2_ANGERR_INIT 0.01
|
||||
param set EKF2_GBIAS_INIT 0.01
|
||||
|
||||
|
|
@ -159,31 +148,18 @@ then
|
|||
# LPE: GPS only mode
|
||||
param set LPE_FUSION 145
|
||||
|
||||
# Simulator IMU data provided at 250 Hz
|
||||
param set IMU_INTEG_RATE 250
|
||||
|
||||
param set MC_PITCH_P 6
|
||||
param set MC_PITCHRATE_P 0.2
|
||||
param set MC_ROLL_P 6
|
||||
param set MC_ROLLRATE_P 0.2
|
||||
|
||||
param set MPC_ALT_MODE 0
|
||||
param set MPC_HOLD_MAX_Z 2
|
||||
param set MPC_Z_VEL_I 0.15
|
||||
param set MPC_Z_VEL_P 0.6
|
||||
param set MPC_Z_VEL_P_ACC 12.0
|
||||
param set MPC_Z_VEL_I_ACC 3.0
|
||||
param set MPC_XY_P 0.8
|
||||
param set MPC_XY_VEL_P 0.2
|
||||
param set MPC_XY_VEL_I 0.02
|
||||
param set MPC_XY_VEL_D 0.016
|
||||
param set MPC_XY_VEL_P_ACC 4.0
|
||||
param set MPC_XY_VEL_I_ACC 0.4
|
||||
param set MPC_XY_VEL_D_ACC 0.32
|
||||
|
||||
param set MPC_SPOOLUP_TIME 0.5
|
||||
param set MPC_TKO_RAMP_T 1
|
||||
|
||||
param set NAV_ACC_RAD 2
|
||||
param set NAV_DLL_ACT 2
|
||||
|
||||
param set RTL_DESCEND_ALT 5
|
||||
param set RTL_LAND_DELAY 5
|
||||
param set RTL_RETURN_ALT 30
|
||||
|
||||
# By default log from boot until first disarm.
|
||||
|
|
@ -201,8 +177,11 @@ fi
|
|||
|
||||
param set COM_CPU_MAX -1 # disable check, no CPU load reported on posix yet
|
||||
|
||||
# Simulator IMU data provided at 250 Hz
|
||||
param set IMU_INTEG_RATE 250
|
||||
|
||||
# Adapt timeout parameters if simulation runs faster or slower than realtime.
|
||||
if [ ! -z $PX4_SIM_SPEED_FACTOR ]; then
|
||||
if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
|
||||
COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
|
||||
echo "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
|
||||
param set COM_DL_LOSS_T $COM_DL_LOSS_T_LONGER
|
||||
|
|
@ -246,8 +225,12 @@ then
|
|||
fi
|
||||
|
||||
dataman start
|
||||
replay tryapplyparams
|
||||
simulator start -c $simulator_tcp_port
|
||||
# only start the simulator if not in replay mode, as both control the lockstep time
|
||||
if ! replay tryapplyparams
|
||||
then
|
||||
simulator start -c $simulator_tcp_port
|
||||
fi
|
||||
battery_simulator start
|
||||
tone_alarm start
|
||||
rc_update start
|
||||
sensors start
|
||||
|
|
@ -288,13 +271,19 @@ mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
|
|||
mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
|
||||
|
||||
# Onboard link to camera
|
||||
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
|
||||
#mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
|
||||
|
||||
# execute autostart post script if any
|
||||
[ -e "$autostart_file".post ] && sh "$autostart_file".post
|
||||
|
||||
# Run script to start logging
|
||||
if param compare SYS_MC_EST_GROUP 2
|
||||
then
|
||||
set LOGGER_ARGS "-p ekf2_timestamps"
|
||||
else
|
||||
set LOGGER_ARGS "-p vehicle_attitude"
|
||||
fi
|
||||
sh etc/init.d/rc.logging
|
||||
|
||||
mavlink boot_complete
|
||||
replay trystart
|
||||
replay trystart
|
||||
|
|
|
|||
|
|
@ -10,9 +10,9 @@
|
|||
<arg name="P" default="0"/>
|
||||
<arg name="Y" default="0"/>
|
||||
<!-- vehcile model and config -->
|
||||
<arg name="sdf" default="plane"/>
|
||||
<arg name="sdf" default="iris"/>
|
||||
<arg name="est" default="ekf2"/>
|
||||
<arg name="vehicle" default="plane"/>
|
||||
<arg name="vehicle" default="iris"/>
|
||||
<arg name="ID" default="0"/>
|
||||
<arg name="ID_in_group" default="0"/>
|
||||
<env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
|
||||
|
|
|
|||
Loading…
Reference in New Issue