XTDrone/sitl_config/launch/multi_vehicle_without_px4.launch

<?xml version="1.0"?>
<launch>
    <!-- MAVROS posix SITL environment launch script -->
    <!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
    <!-- vehicle model and world -->
    <arg name="est" default="ekf2"/>
    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
    <!-- gazebo configs -->
    <arg name="gui" default="true"/>
    <arg name="debug" default="false"/>
    <arg name="verbose" default="false"/>
    <arg name="paused" default="false"/>
    <!-- Gazebo sim -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="gui" value="$(arg gui)"/>
        <arg name="world_name" value="$(arg world)"/>
        <arg name="debug" value="$(arg debug)"/>
        <arg name="verbose" value="$(arg verbose)"/>
        <arg name="paused" value="$(arg paused)"/>
    </include>
     <!-- typhoon_h480_0 -->
     <group ns="typhoon_h480_0">
        <!-- MAVROS and vehicle configs -->
            <arg name="ID" value="0"/>
            <arg name="ID_in_group" value="0"/>
            <arg name="fcu_url" default="udp://:24540@localhost:34580"/>
        <!-- PX4 SITL and vehicle spawn -->
        <include file="$(find px4)/launch/single_vehicle_spawn_without_px4.launch">
            <arg name="x" value="0"/>
            <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"/>
            <arg name="mavlink_udp_port" value="18570"/>
            <arg name="mavlink_tcp_port" value="4560"/>
            <arg name="ID" value="$(arg ID)"/>
            <arg name="ID_in_group" value="$(arg ID_in_group)"/>
        </include>
    </group>
     <!-- typhoon_h480_1 -->
     <group ns="typhoon_h480_1">
        <!-- MAVROS and vehicle configs -->
            <arg name="ID" value="1"/>
            <arg name="ID_in_group" value="1"/>
            <arg name="fcu_url" default="udp://:24541@localhost:34581"/>
        <!-- PX4 SITL and vehicle spawn -->
        <include file="$(find px4)/launch/single_vehicle_spawn_without_px4.launch">
            <arg name="x" value="0"/>
            <arg name="y" value="6"/>
            <arg name="z" value="0"/>
            <arg name="R" value="0"/>
            <arg name="P" value="0"/>
            <arg name="Y" value="0"/>
            <arg name="vehicle" value="typhoon_h480"/>
            <arg name="sdf" value="typhoon_h480"/>
            <arg name="mavlink_udp_port" value="18571"/>
            <arg name="mavlink_tcp_port" value="4561"/>
            <arg name="ID" value="$(arg ID)"/>
            <arg name="ID_in_group" value="$(arg ID_in_group)"/>
        </include>
    </group>
     <!-- iris_0 -->
     <group ns="iris_0">
        <!-- MAVROS and vehicle configs -->
            <arg name="ID" value="2"/>
            <arg name="ID_in_group" value="0"/>
            <arg name="fcu_url" default="udp://:24542@localhost:34582"/>
        <!-- PX4 SITL and vehicle spawn -->
        <include file="$(find px4)/launch/single_vehicle_spawn_without_px4.launch">
            <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"/>
            <arg name="sdf" value="iris_stereo_camera"/>
            <arg name="mavlink_udp_port" value="18572"/>
            <arg name="mavlink_tcp_port" value="4562"/>
            <arg name="ID" value="$(arg ID)"/>
            <arg name="ID_in_group" value="$(arg ID_in_group)"/>
        </include>
    </group>
     <!-- iris_1 -->
     <group ns="iris_1">
        <!-- MAVROS and vehicle configs -->
            <arg name="ID" value="3"/>
            <arg name="ID_in_group" value="1"/>
            <arg name="fcu_url" default="udp://:24543@localhost:34583"/>
        <!-- PX4 SITL and vehicle spawn -->
        <include file="$(find px4)/launch/single_vehicle_spawn_without_px4.launch">
            <arg name="x" value="3"/>
            <arg name="y" value="6"/>
            <arg name="z" value="0"/>
            <arg name="R" value="0"/>
            <arg name="P" value="0"/>
            <arg name="Y" value="0"/>
            <arg name="vehicle" value="iris"/>
            <arg name="sdf" value="iris_stereo_camera"/>
            <arg name="mavlink_udp_port" value="18573"/>
            <arg name="mavlink_tcp_port" value="4563"/>
            <arg name="ID" value="$(arg ID)"/>
            <arg name="ID_in_group" value="$(arg ID_in_group)"/>
        </include>
    </group>
     <!-- iris_2 -->
     <group ns="iris_2">
        <!-- MAVROS and vehicle configs -->
            <arg name="ID" value="4"/>
            <arg name="ID_in_group" value="2"/>
            <arg name="fcu_url" default="udp://:24544@localhost:34584"/>
        <!-- PX4 SITL and vehicle spawn -->
        <include file="$(find px4)/launch/single_vehicle_spawn_without_px4.launch">
            <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"/>
            <arg name="sdf" value="iris_stereo_camera"/>
            <arg name="mavlink_udp_port" value="18574"/>
            <arg name="mavlink_tcp_port" value="4564"/>
            <arg name="ID" value="$(arg ID)"/>
            <arg name="ID_in_group" value="$(arg ID_in_group)"/>
        </include>
    </group>
</launch>
<!--the launch file is generated by XTDrone multi-vehicle generator.py  -->