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robocup.launch

This commit is contained in:
Your Name 2020-11-11 17:55:21 +08:00
parent 19d5196793
commit 5d889c4ab5
12 changed files with 175 additions and 23132 deletions
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1037
coordination/launch_generator/multi_vehicle_ppt.launch
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196
coordination/launch_generator/multi_vehicle_typh.launch
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@ -1,196 +0,0 @@
<?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="$(find mavlink_sitl_gazebo)/worlds/robocup.world"/>
<!-- gazebo configs -->
<arg name="gui" default="true"/>
<arg name="debug" default="false"/>
<arg name="verbose" default="false"/>
<arg name="paused" default="false"/>
<!-- Gazebo sim -->
<include file="$(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_xtd.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>
<!-- 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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- typhoon_h480_1 -->
<group ns="typhoon_h480_1">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="1"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:24541@localhost:34581"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.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="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>
<!-- 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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- typhoon_h480_2 -->
<group ns="typhoon_h480_2">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="2"/>
<arg name="ID_in_group" value="2"/>
<arg name="fcu_url" default="udp://:24542@localhost:34582"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<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="typhoon_h480"/>
<arg name="sdf" value="typhoon_h480"/>
<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>
<!-- 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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- typhoon_h480_3 -->
<group ns="typhoon_h480_3">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="3"/>
<arg name="ID_in_group" value="3"/>
<arg name="fcu_url" default="udp://:24543@localhost:34583"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.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="typhoon_h480"/>
<arg name="sdf" value="typhoon_h480"/>
<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>
<!-- 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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- typhoon_h480_4 -->
<group ns="typhoon_h480_4">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="4"/>
<arg name="ID_in_group" value="4"/>
<arg name="fcu_url" default="udp://:24544@localhost:34584"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
<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="typhoon_h480"/>
<arg name="sdf" value="typhoon_h480"/>
<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>
<!-- 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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- typhoon_h480_5 -->
<group ns="typhoon_h480_5">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="5"/>
<arg name="ID_in_group" value="5"/>
<arg name="fcu_url" default="udp://:24545@localhost:34585"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
<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="typhoon_h480"/>
<arg name="sdf" value="typhoon_h480"/>
<arg name="mavlink_udp_port" value="18575"/>
<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>
</launch>
<!--the launch file is generated by XTDrone multi-vehicle generator.py -->

54
sitl_config/launch/Drone_with_arm.launch
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<?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="vehicle" default="iris"/>
<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="$(arg paused)"/>
</include>
<!-- UAV0 -->
<group ns="uav0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="0"/>
<!-- <arg name="fcu_url" default="udp://:14540@localhost:14580"/> -->
<arg name="fcu_url" default="udp://:24540@localhost:34580"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(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="$(arg vehicle)_arm"/>
<arg name="mavlink_udp_port" value="18570"/>
<arg name="mavlink_tcp_port" value="4560"/>
<arg name="ID" value="$(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 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) -->

56
sitl_config/launch/actor.launch
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@ -1,56 +0,0 @@
<?xml version="1.0"?>
<launch>
<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="extra_gazebo_args" default=""/>
<arg name="gui" default="true"/>
<arg name="recording" default="false"/>
<!-- Note that 'headless' is currently non-functional. See gazebo_ros_pkgs issue #491 (-r arg does not disable
rendering, but instead enables recording). The arg definition has been left here to prevent breaking downstream
launch files, but it does nothing. -->
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<arg name="physics" default="ode"/>
<arg name="verbose" default="true"/>
<arg name="output" default="screen"/>
<arg name="world_name" default="actor_ros.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
<arg name="respawn_gazebo" default="false"/>
<arg name="use_clock_frequency" default="false"/>
<arg name="pub_clock_frequency" default="100"/>
<arg name="enable_ros_network" default="true" />
<arg name="server_required" default="false"/>
<arg name="gui_required" default="false"/>
<!-- set use_sim_time flag -->
<param name="/use_sim_time" value="$(arg use_sim_time)"/>
<!-- set command arguments -->
<arg unless="$(arg paused)" name="command_arg1" value=""/>
<arg if="$(arg paused)" name="command_arg1" value="-u"/>
<arg unless="$(arg recording)" name="command_arg2" value=""/>
<arg if="$(arg recording)" name="command_arg2" value="-r"/>
<arg unless="$(arg verbose)" name="command_arg3" value=""/>
<arg if="$(arg verbose)" name="command_arg3" value="--verbose"/>
<arg unless="$(arg debug)" name="script_type" value="gzserver"/>
<arg if="$(arg debug)" name="script_type" value="debug"/>
<!-- start gazebo server-->
<group if="$(arg use_clock_frequency)">
<param name="gazebo/pub_clock_frequency" value="$(arg pub_clock_frequency)" />
</group>
<group>
<param name="gazebo/enable_ros_network" value="$(arg enable_ros_network)" />
</group>
<node name="gazebo" pkg="gazebo_ros" type="$(arg script_type)" respawn="$(arg respawn_gazebo)" output="$(arg output)"
args="$(arg command_arg1) $(arg command_arg2) $(arg command_arg3) -e $(arg physics) $(arg extra_gazebo_args) $(arg world_name)"
required="$(arg server_required)" />
<!-- start gazebo client -->
<group if="$(arg gui)">
<node name="gazebo_gui" pkg="gazebo_ros" type="gzclient" respawn="false" output="$(arg output)" args="$(arg command_arg3)"
required="$(arg gui_required)"/>
</group>
</launch>

631
sitl_config/launch/hybrid_multi_vehicle.launch
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@ -1,631 +0,0 @@
<?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="$(find mavlink_sitl_gazebo)/worlds/outdoor2.world"/>
<!-- gazebo configs -->
<arg name="gui" default="true"/>
<arg name="debug" default="false"/>
<arg name="verbose" default="false"/>
<arg name="paused" default="false"/>
<!-- Gazebo sim -->
<include file="$(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="$(arg paused)"/>
</include>
<!-- plane_0 -->
<group ns="plane_0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="0"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:24541@127.0.0.1:34580"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="3"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="plane"/>
<arg name="sdf" value="plane"/>
<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>
<!-- 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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- plane_1 -->
<group ns="plane_1">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="1"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:24542@127.0.0.1:34581"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="6"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="plane"/>
<arg name="sdf" value="plane"/>
<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>
<!-- 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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- plane_2 -->
<group ns="plane_2">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="2"/>
<arg name="ID_in_group" value="2"/>
<arg name="fcu_url" default="udp://:24543@127.0.0.1:34582"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="9"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="plane"/>
<arg name="sdf" value="plane"/>
<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>
<!-- 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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- typhoon_h480_0 -->
<group ns="typhoon_h480_0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="3"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:24544@127.0.0.1:34583"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.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="typhoon_h480"/>
<arg name="sdf" value="typhoon_h480_stereo"/>
<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>
<!-- 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="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="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="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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- solo_0 -->
<group ns="solo_0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="7"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:14547@127.0.0.1:34584"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="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="solo"/>
<arg name="sdf" value="solo_stereo_camera"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- solo_1 -->
<group ns="solo_1">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="8"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:14548@127.0.0.1:34586"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
<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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- solo_2 -->
<group ns="solo_2">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="9"/>
<arg name="ID_in_group" value="2"/>
<arg name="fcu_url" default="udp://:14549@127.0.0.1:34588"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
<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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- solo_3 -->
<group ns="solo_3">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="10"/>
<arg name="ID_in_group" value="3"/>
<arg name="fcu_url" default="udp://:14550@127.0.0.1:34590"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
<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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- solo_4 -->
<group ns="solo_4">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="11"/>
<arg name="ID_in_group" value="4"/>
<arg name="fcu_url" default="udp://:14551@127.0.0.1:34592"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- solo_5 -->
<group ns="solo_5">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="12"/>
<arg name="ID_in_group" value="5"/>
<arg name="fcu_url" default="udp://:14552@127.0.0.1:34594"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="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="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>
<!-- 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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_0 -->
<group ns="iris_0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="13"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:14553@127.0.0.1:34596"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="9"/>
<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="24586"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_1 -->
<group ns="iris_1">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="14"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:14554@127.0.0.1:34598"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="9"/>
<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="24588"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_2 -->
<group ns="iris_2">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="15"/>
<arg name="ID_in_group" value="2"/>
<arg name="fcu_url" default="udp://:14555@127.0.0.1:34600"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="9"/>
<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="24590"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_3 -->
<group ns="iris_3">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="16"/>
<arg name="ID_in_group" value="3"/>
<arg name="fcu_url" default="udp://:14556@127.0.0.1:34602"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="9"/>
<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="24592"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_4 -->
<group ns="iris_4">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="17"/>
<arg name="ID_in_group" value="4"/>
<arg name="fcu_url" default="udp://:14557@127.0.0.1:34604"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="9"/>
<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="24594"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_5 -->
<group ns="iris_5">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="18"/>
<arg name="ID_in_group" value="5"/>
<arg name="fcu_url" default="udp://:14558@127.0.0.1:34606"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="9"/>
<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="24596"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- tiltrotor_0 -->
<group ns="tiltrotor_0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="19"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:14559@127.0.0.1:34608"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<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="tiltrotor"/>
<arg name="sdf" value="tiltrotor"/>
<arg name="mavlink_udp_port" value="24598"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- tiltrotor_1 -->
<group ns="tiltrotor_1">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="20"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:14560@127.0.0.1:34610"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(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="tiltrotor"/>
<arg name="sdf" value="tiltrotor"/>
<arg name="mavlink_udp_port" value="24600"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- tiltrotor_2 -->
<group ns="tiltrotor_2">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="21"/>
<arg name="ID_in_group" value="2"/>
<arg name="fcu_url" default="udp://:14561@127.0.0.1:34612"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(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="tiltrotor"/>
<arg name="sdf" value="tiltrotor"/>
<arg name="mavlink_udp_port" value="24602"/>
<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>
</launch>
<!--the launch file is generated by XTDrone multi-vehicle generator.py -->

544
sitl_config/launch/multi_vehicle_1.11.launch
View File

@ -1,544 +0,0 @@
<?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="$(find mavlink_sitl_gazebo)/worlds/outdoor2.world"/>
<!-- gazebo configs -->
<arg name="gui" default="true"/>
<arg name="debug" default="false"/>
<arg name="verbose" default="false"/>
<arg name="paused" default="false"/>
<!-- Gazebo sim -->
<include file="$(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="$(arg paused)"/>
</include>
<!-- iris_0 -->
<group ns="iris_0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="1"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:14541@localhost:34572"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="3"/>
<arg name="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="24562"/>
<arg name="mavlink_tcp_port" value="4561"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_1 -->
<group ns="iris_1">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="2"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:14542@localhost:34574"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.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="24564"/>
<arg name="mavlink_tcp_port" value="4562"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_2 -->
<group ns="iris_2">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="3"/>
<arg name="ID_in_group" value="2"/>
<arg name="fcu_url" default="udp://:14543@localhost:34576"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<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="mavlink_udp_port" value="24566"/>
<arg name="mavlink_tcp_port" value="4563"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_3 -->
<group ns="iris_3">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="4"/>
<arg name="ID_in_group" value="3"/>
<arg name="fcu_url" default="udp://:14544@localhost:34578"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="6"/>
<arg name="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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_4 -->
<group ns="iris_4">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="5"/>
<arg name="ID_in_group" value="4"/>
<arg name="fcu_url" default="udp://:14545@localhost:34580"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_5 -->
<group ns="iris_5">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="6"/>
<arg name="ID_in_group" value="5"/>
<arg name="fcu_url" default="udp://:14546@localhost:34582"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
<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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_6 -->
<group ns="iris_6">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="7"/>
<arg name="ID_in_group" value="6"/>
<arg name="fcu_url" default="udp://:14547@localhost:34584"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="9"/>
<arg name="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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_7 -->
<group ns="iris_7">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="8"/>
<arg name="ID_in_group" value="7"/>
<arg name="fcu_url" default="udp://:14548@localhost:34586"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_8 -->
<group ns="iris_8">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="9"/>
<arg name="ID_in_group" value="8"/>
<arg name="fcu_url" default="udp://:14549@localhost:34588"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
<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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_9 -->
<group ns="iris_9">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="10"/>
<arg name="ID_in_group" value="9"/>
<arg name="fcu_url" default="udp://:14550@localhost:34590"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_10 -->
<group ns="iris_10">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="11"/>
<arg name="ID_in_group" value="10"/>
<arg name="fcu_url" default="udp://:14540@localhost:34592"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
<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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_11 -->
<group ns="iris_11">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="12"/>
<arg name="ID_in_group" value="11"/>
<arg name="fcu_url" default="udp://:14541@localhost:34594"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
<arg name="y" value="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="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>
<!-- 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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_12 -->
<group ns="iris_12">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="13"/>
<arg name="ID_in_group" value="12"/>
<arg name="fcu_url" default="udp://:14542@localhost:34596"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(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="24586"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_13 -->
<group ns="iris_13">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="14"/>
<arg name="ID_in_group" value="13"/>
<arg name="fcu_url" default="udp://:14543@localhost:34598"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(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="24588"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_14 -->
<group ns="iris_14">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="15"/>
<arg name="ID_in_group" value="14"/>
<arg name="fcu_url" default="udp://:14544@localhost:34600"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
<arg name="y" value="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="24590"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_15 -->
<group ns="iris_15">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="16"/>
<arg name="ID_in_group" value="15"/>
<arg name="fcu_url" default="udp://:14545@localhost:34602"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(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="24592"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_16 -->
<group ns="iris_16">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="17"/>
<arg name="ID_in_group" value="16"/>
<arg name="fcu_url" default="udp://:14546@localhost:34604"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(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="24594"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_17 -->
<group ns="iris_17">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="18"/>
<arg name="ID_in_group" value="17"/>
<arg name="fcu_url" default="udp://:14547@localhost:34606"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(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="24596"/>
<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>
</launch>
<!--the launch file is generated by XTDrone multi-vehicle generator.py -->

13
sitl_config/launch/pub_test.launch
View File

@ -1,13 +0,0 @@
<launch>
<!-- Test mavros posix sitl publishes pose at 30 Hz -->
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
<arg name="gui" value="false"/>
<arg name="interactive" value="false"/>
<arg name="verbose" value="true"/>
</include>
<param name="pub_test/topic" value="/mavros/local_position/pose"/>
<param name="pub_test/hz" value="30.0"/>
<param name="pub_test/hzerror" value="1.0"/>
<param name="pub_test/test_duration" value="10.0"/>
<test test-name="pub_test" pkg="rostest" type="hztest" name="pub_test"/>
</launch>

210
sitl_config/launch/robocup.launch
View File

@ -1,56 +1,196 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<launch> <launch>
<!-- MAVROS posix SITL environment launch script --> <!-- MAVROS posix SITL environment launch script -->
<!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle --> <!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
<!-- vehicle pose -->
<arg name="x" default="0"/>
<arg name="y" default="0"/>
<arg name="z" default="0"/>
<arg name="R" default="0"/>
<arg name="P" default="0"/>
<arg name="Y" default="0"/>
<!-- vehicle model and world --> <!-- vehicle model and world -->
<arg name="est" default="ekf2"/> <arg name="est" default="ekf2"/>
<arg name="vehicle" default="typhoon_h480"/>
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/robocup.world"/> <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/robocup.world"/>
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/typhoon_h480/typhoon_h480.sdf"/>
<!-- gazebo configs --> <!-- gazebo configs -->
<arg name="gui" default="true"/> <arg name="gui" default="true"/>
<arg name="debug" default="false"/> <arg name="debug" default="false"/>
<arg name="verbose" default="false"/> <arg name="verbose" default="false"/>
<arg name="paused" default="false"/> <arg name="paused" default="false"/>
<arg name="respawn_gazebo" default="false"/> <!-- Gazebo sim -->
<!-- MAVROS configs --> <include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
<arg name="respawn_mavros" default="false"/>
<!-- PX4 configs -->
<arg name="interactive" default="true"/>
<!-- PX4 SITL and Gazebo -->
<include file="$(find px4)/launch/posix_sitl.launch">
<arg name="x" value="$(arg x)"/>
<arg name="y" value="$(arg y)"/>
<arg name="z" value="$(arg z)"/>
<arg name="R" value="$(arg R)"/>
<arg name="P" value="$(arg P)"/>
<arg name="Y" value="$(arg Y)"/>
<arg name="world" value="$(arg world)"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="sdf" value="$(arg sdf)"/>
<arg name="gui" value="$(arg gui)"/> <arg name="gui" value="$(arg gui)"/>
<arg name="interactive" value="$(arg interactive)"/> <arg name="world_name" value="$(arg world)"/>
<arg name="debug" value="$(arg debug)"/> <arg name="debug" value="$(arg debug)"/>
<arg name="verbose" value="$(arg verbose)"/> <arg name="verbose" value="$(arg verbose)"/>
<arg name="paused" value="$(arg paused)"/> <arg name="paused" value="$(arg paused)"/>
<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
</include> </include>
<group ns="typhoon_h480_0"> <!-- typhoon_h480_0 -->
<!-- MAVROS --> <group ns="typhoon_h480_0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="0"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:24540@localhost:34580"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.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>
<!-- MAVROS -->
<include file="$(find mavros)/launch/px4.launch"> <include file="$(find mavros)/launch/px4.launch">
<!-- GCS link is provided by SITL -->
<arg name="gcs_url" value=""/>
<arg name="fcu_url" value="$(arg fcu_url)"/> <arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="respawn_mavros" value="$(arg respawn_mavros)"/> <arg name="gcs_url" value=""/>
<arg name="tgt_system" value="$(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="1"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:24541@localhost:34581"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
<arg name="y" value="3"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="typhoon_h480"/>
<arg name="sdf" value="typhoon_h480"/>
<arg name="mavlink_udp_port" value="18571"/>
<arg name="mavlink_tcp_port" value="4561"/>
<arg name="ID" value="$(arg ID)"/>
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
</include>
<!-- MAVROS -->
<include file="$(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="2"/>
<arg name="ID_in_group" value="2"/>
<arg name="fcu_url" default="udp://:24542@localhost:34582"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="6"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="typhoon_h480"/>
<arg name="sdf" value="typhoon_h480"/>
<arg name="mavlink_udp_port" value="18572"/>
<arg name="mavlink_tcp_port" value="4562"/>
<arg name="ID" value="$(arg ID)"/>
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
</include>
<!-- MAVROS -->
<include file="$(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="3"/>
<arg name="ID_in_group" value="3"/>
<arg name="fcu_url" default="udp://:24543@localhost:34583"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
<arg name="y" value="6"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="typhoon_h480"/>
<arg name="sdf" value="typhoon_h480"/>
<arg name="mavlink_udp_port" value="18573"/>
<arg name="mavlink_tcp_port" value="4563"/>
<arg name="ID" value="$(arg ID)"/>
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
</include>
<!-- MAVROS -->
<include file="$(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_4 -->
<group ns="typhoon_h480_4">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="4"/>
<arg name="ID_in_group" value="4"/>
<arg name="fcu_url" default="udp://:24544@localhost:34584"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="9"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="typhoon_h480"/>
<arg name="sdf" value="typhoon_h480"/>
<arg name="mavlink_udp_port" value="18574"/>
<arg name="mavlink_tcp_port" value="4564"/>
<arg name="ID" value="$(arg ID)"/>
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
</include>
<!-- MAVROS -->
<include file="$(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_5 -->
<group ns="typhoon_h480_5">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="5"/>
<arg name="ID_in_group" value="5"/>
<arg name="fcu_url" default="udp://:24545@localhost:34585"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
<arg name="y" value="9"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="typhoon_h480"/>
<arg name="sdf" value="typhoon_h480"/>
<arg name="mavlink_udp_port" value="18575"/>
<arg name="mavlink_tcp_port" value="4565"/>
<arg name="ID" value="$(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> </include>
</group> </group>
</launch> </launch>
<!--the launch file is generated by XTDrone multi-vehicle generator.py -->

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sitl_config/launch/typhoon.launch
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<?xml version="1.0"?>
<launch>
<!-- MAVROS posix SITL environment launch script -->
<!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle -->
<!-- vehicle pose -->
<arg name="x" default="0"/>
<arg name="y" default="0"/>
<arg name="z" default="0"/>
<arg name="R" default="0"/>
<arg name="P" default="0"/>
<arg name="Y" default="0"/>
<!-- vehicle model and world -->
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="typhoon_h480"/>
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/outdoor1.world"/>
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
<!-- gazebo configs -->
<arg name="gui" default="true"/>
<arg name="debug" default="false"/>
<arg name="verbose" default="false"/>
<arg name="paused" default="false"/>
<arg name="respawn_gazebo" default="false"/>
<!-- MAVROS configs -->
<arg name="fcu_url" default="udp://:24540@localhost:34580"/>
<arg name="respawn_mavros" default="false"/>
<!-- PX4 configs -->
<arg name="interactive" default="true"/>
<!-- PX4 SITL and Gazebo -->
<include file="$(find px4)/launch/posix_sitl.launch">
<arg name="x" value="$(arg x)"/>
<arg name="y" value="$(arg y)"/>
<arg name="z" value="$(arg z)"/>
<arg name="R" value="$(arg R)"/>
<arg name="P" value="$(arg P)"/>
<arg name="Y" value="$(arg Y)"/>
<arg name="world" value="$(arg world)"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="sdf" value="$(arg sdf)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="interactive" value="$(arg interactive)"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="verbose" value="$(arg verbose)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
</include>
<!-- MAVROS -->
<include file="$(find mavros)/launch/px4.launch">
<!-- GCS link is provided by SITL -->
<arg name="gcs_url" value=""/>
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
</include>
</launch>

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sitl_config/worlds/outdoor1.world
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sitl_config/worlds/outdoor1_1.world
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sitl_config/worlds/outdoor1_new_cars.world
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