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change 127.0.0.1 to localhost

This commit is contained in:
Shaochang Tan 2020-09-18 15:16:53 +08:00
parent 262e398775
commit 6e96f9db3e
8 changed files with 1700 additions and 76 deletions
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2
coordination/launch_generator/generator.py
View File

@ -116,7 +116,7 @@ with open('multi_vehicle.launch','w') as f:
elif '''<arg name="ID_in_group" value="0"/>''' in line:
f.write(''' <arg name="ID_in_group" value="%d"/>\n''' %id_in_type)
elif "udp://:" in line:
f.write(''' <arg name="fcu_url" default="udp://:%d@127.0.0.1:%d"/>\n''' %(onboard,mavlink_2))
f.write(''' <arg name="fcu_url" default="udp://:%d@localhost:%d"/>\n''' %(onboard,mavlink_2))
elif "mavlink_udp_port" in line:
f.write(''' <arg name="mavlink_udp_port" value="%d"/>\n'''%SITL)
elif "mavlink_tcp_port" in line:

12
coordination/launch_generator/multi_vehicle.launch
View File

@ -23,7 +23,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="1"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:14541@127.0.0.1:34572"/>
<arg name="fcu_url" default="udp://:14541@localhost:34572"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
@ -52,7 +52,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="2"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:14542@127.0.0.1:34574"/>
<arg name="fcu_url" default="udp://:14542@localhost:34574"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
@ -81,7 +81,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="3"/>
<arg name="ID_in_group" value="2"/>
<arg name="fcu_url" default="udp://:14543@127.0.0.1:34576"/>
<arg name="fcu_url" default="udp://:14543@localhost:34576"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
@ -110,7 +110,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="4"/>
<arg name="ID_in_group" value="3"/>
<arg name="fcu_url" default="udp://:14544@127.0.0.1:34578"/>
<arg name="fcu_url" default="udp://:14544@localhost:34578"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
@ -139,7 +139,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="5"/>
<arg name="ID_in_group" value="4"/>
<arg name="fcu_url" default="udp://:14545@127.0.0.1:34580"/>
<arg name="fcu_url" default="udp://:14545@localhost:34580"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
@ -168,7 +168,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="6"/>
<arg name="ID_in_group" value="5"/>
<arg name="fcu_url" default="udp://:14546@127.0.0.1:34582"/>
<arg name="fcu_url" default="udp://:14546@localhost:34582"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>

2
moveit_config/launch/moveit.rviz
View File

@ -40,7 +40,7 @@ Visualization Manager:
MoveIt_Goal_Tolerance: 0
MoveIt_Planning_Time: 5
MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Warehouse_Host: 127.0.0.1
MoveIt_Warehouse_Host: localhost
MoveIt_Warehouse_Port: 33829
Name: MotionPlanning
Planned Path:

42
sitl_config/launch/hybrid_multi_vehicle.launch
View File

@ -23,7 +23,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="1"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:14541@127.0.0.1:34572"/>
<arg name="fcu_url" default="udp://:14541@localhost:34572"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
@ -52,7 +52,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="2"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:14542@127.0.0.1:34574"/>
<arg name="fcu_url" default="udp://:14542@localhost:34574"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
@ -81,7 +81,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="3"/>
<arg name="ID_in_group" value="2"/>
<arg name="fcu_url" default="udp://:14543@127.0.0.1:34576"/>
<arg name="fcu_url" default="udp://:14543@localhost:34576"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
@ -110,7 +110,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="4"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:14544@127.0.0.1:34578"/>
<arg name="fcu_url" default="udp://:14544@localhost:34578"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
@ -139,7 +139,7 @@
<!-- 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"/>
<arg name="fcu_url" default="udp://:14545@localhost:34580"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
@ -168,7 +168,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="6"/>
<arg name="ID_in_group" value="2"/>
<arg name="fcu_url" default="udp://:14546@127.0.0.1:34582"/>
<arg name="fcu_url" default="udp://:14546@localhost:34582"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
@ -197,7 +197,7 @@
<!-- 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"/>
<arg name="fcu_url" default="udp://:14547@localhost:34584"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
@ -226,7 +226,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="8"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:14548@127.0.0.1:34586"/>
<arg name="fcu_url" default="udp://:14548@localhost:34586"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
@ -255,7 +255,7 @@
<!-- 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"/>
<arg name="fcu_url" default="udp://:14549@localhost:34588"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
@ -284,7 +284,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="10"/>
<arg name="ID_in_group" value="3"/>
<arg name="fcu_url" default="udp://:14550@127.0.0.1:34590"/>
<arg name="fcu_url" default="udp://:14550@localhost:34590"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
@ -313,7 +313,7 @@
<!-- 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"/>
<arg name="fcu_url" default="udp://:14551@localhost:34592"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
@ -342,7 +342,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="12"/>
<arg name="ID_in_group" value="5"/>
<arg name="fcu_url" default="udp://:14552@127.0.0.1:34594"/>
<arg name="fcu_url" default="udp://:14552@localhost:34594"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
@ -371,7 +371,7 @@
<!-- 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"/>
<arg name="fcu_url" default="udp://:14553@localhost:34596"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="9"/>
@ -400,7 +400,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="14"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:14554@127.0.0.1:34598"/>
<arg name="fcu_url" default="udp://:14554@localhost:34598"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="9"/>
@ -429,7 +429,7 @@
<!-- 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"/>
<arg name="fcu_url" default="udp://:14555@localhost:34600"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="9"/>
@ -458,7 +458,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="16"/>
<arg name="ID_in_group" value="3"/>
<arg name="fcu_url" default="udp://:14556@127.0.0.1:34602"/>
<arg name="fcu_url" default="udp://:14556@localhost:34602"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="9"/>
@ -487,7 +487,7 @@
<!-- 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"/>
<arg name="fcu_url" default="udp://:14557@localhost:34604"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="9"/>
@ -516,7 +516,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="18"/>
<arg name="ID_in_group" value="5"/>
<arg name="fcu_url" default="udp://:14558@127.0.0.1:34606"/>
<arg name="fcu_url" default="udp://:14558@localhost:34606"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="9"/>
@ -545,7 +545,7 @@
<!-- 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"/>
<arg name="fcu_url" default="udp://:14559@localhost:34608"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="12"/>
@ -574,7 +574,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="20"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:14560@127.0.0.1:34610"/>
<arg name="fcu_url" default="udp://:14560@localhost:34610"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="12"/>
@ -603,7 +603,7 @@
<!-- 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"/>
<arg name="fcu_url" default="udp://:14561@localhost:34612"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="12"/>

2
sitl_config/launch/indoor1.launch
View File

@ -21,7 +21,7 @@
<arg name="paused" default="false"/>
<arg name="respawn_gazebo" default="false"/>
<!-- MAVROS configs -->
<arg name="fcu_url" default="udp://:14540@127.0.0.1:34594"/>
<arg name="fcu_url" default="udp://:14540@localhost:34594"/>
<arg name="respawn_mavros" default="false"/>
<!-- PX4 configs -->
<arg name="interactive" default="true"/>

18
sitl_config/launch/multi_vehicle.launch
View File

@ -23,7 +23,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="1"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:14541@127.0.0.1:34572"/>
<arg name="fcu_url" default="udp://:14541@localhost:34572"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
@ -52,7 +52,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="2"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:14542@127.0.0.1:34574"/>
<arg name="fcu_url" default="udp://:14542@localhost:34574"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
@ -81,7 +81,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="3"/>
<arg name="ID_in_group" value="2"/>
<arg name="fcu_url" default="udp://:14543@127.0.0.1:34576"/>
<arg name="fcu_url" default="udp://:14543@localhost:34576"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
@ -110,7 +110,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="4"/>
<arg name="ID_in_group" value="3"/>
<arg name="fcu_url" default="udp://:14544@127.0.0.1:34578"/>
<arg name="fcu_url" default="udp://:14544@localhost:34578"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
@ -139,7 +139,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="5"/>
<arg name="ID_in_group" value="4"/>
<arg name="fcu_url" default="udp://:14545@127.0.0.1:34580"/>
<arg name="fcu_url" default="udp://:14545@localhost:34580"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
@ -168,7 +168,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="6"/>
<arg name="ID_in_group" value="5"/>
<arg name="fcu_url" default="udp://:14546@127.0.0.1:34582"/>
<arg name="fcu_url" default="udp://:14546@localhost:34582"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
@ -197,7 +197,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="7"/>
<arg name="ID_in_group" value="6"/>
<arg name="fcu_url" default="udp://:14547@127.0.0.1:34584"/>
<arg name="fcu_url" default="udp://:14547@localhost:34584"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
@ -226,7 +226,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="8"/>
<arg name="ID_in_group" value="7"/>
<arg name="fcu_url" default="udp://:14548@127.0.0.1:34586"/>
<arg name="fcu_url" default="udp://:14548@localhost:34586"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
@ -255,7 +255,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="9"/>
<arg name="ID_in_group" value="8"/>
<arg name="fcu_url" default="udp://:14549@127.0.0.1:34588"/>
<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"/>

36
sitl_config/launch/multi_vehicle_1.11.launch
View File

@ -23,7 +23,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="1"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:14541@127.0.0.1:34572"/>
<arg name="fcu_url" default="udp://:14541@localhost:34572"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
@ -52,7 +52,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="2"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:14542@127.0.0.1:34574"/>
<arg name="fcu_url" default="udp://:14542@localhost:34574"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
@ -81,7 +81,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="3"/>
<arg name="ID_in_group" value="2"/>
<arg name="fcu_url" default="udp://:14543@127.0.0.1:34576"/>
<arg name="fcu_url" default="udp://:14543@localhost:34576"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
@ -110,7 +110,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="4"/>
<arg name="ID_in_group" value="3"/>
<arg name="fcu_url" default="udp://:14544@127.0.0.1:34578"/>
<arg name="fcu_url" default="udp://:14544@localhost:34578"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
@ -139,7 +139,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="5"/>
<arg name="ID_in_group" value="4"/>
<arg name="fcu_url" default="udp://:14545@127.0.0.1:34580"/>
<arg name="fcu_url" default="udp://:14545@localhost:34580"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
@ -168,7 +168,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="6"/>
<arg name="ID_in_group" value="5"/>
<arg name="fcu_url" default="udp://:14546@127.0.0.1:34582"/>
<arg name="fcu_url" default="udp://:14546@localhost:34582"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
@ -197,7 +197,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="7"/>
<arg name="ID_in_group" value="6"/>
<arg name="fcu_url" default="udp://:14547@127.0.0.1:34584"/>
<arg name="fcu_url" default="udp://:14547@localhost:34584"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
@ -226,7 +226,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="8"/>
<arg name="ID_in_group" value="7"/>
<arg name="fcu_url" default="udp://:14548@127.0.0.1:34586"/>
<arg name="fcu_url" default="udp://:14548@localhost:34586"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
@ -255,7 +255,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="9"/>
<arg name="ID_in_group" value="8"/>
<arg name="fcu_url" default="udp://:14549@127.0.0.1:34588"/>
<arg name="fcu_url" default="udp://:14549@localhost:34588"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
@ -284,7 +284,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="10"/>
<arg name="ID_in_group" value="9"/>
<arg name="fcu_url" default="udp://:14550@127.0.0.1:34590"/>
<arg name="fcu_url" default="udp://:14550@localhost:34590"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
@ -313,7 +313,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="11"/>
<arg name="ID_in_group" value="10"/>
<arg name="fcu_url" default="udp://:14540@127.0.0.1:34592"/>
<arg name="fcu_url" default="udp://:14540@localhost:34592"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
@ -342,7 +342,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="12"/>
<arg name="ID_in_group" value="11"/>
<arg name="fcu_url" default="udp://:14541@127.0.0.1:34594"/>
<arg name="fcu_url" default="udp://:14541@localhost:34594"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
@ -371,7 +371,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="13"/>
<arg name="ID_in_group" value="12"/>
<arg name="fcu_url" default="udp://:14542@127.0.0.1:34596"/>
<arg name="fcu_url" default="udp://:14542@localhost:34596"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
@ -400,7 +400,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="14"/>
<arg name="ID_in_group" value="13"/>
<arg name="fcu_url" default="udp://:14543@127.0.0.1:34598"/>
<arg name="fcu_url" default="udp://:14543@localhost:34598"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
@ -429,7 +429,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="15"/>
<arg name="ID_in_group" value="14"/>
<arg name="fcu_url" default="udp://:14544@127.0.0.1:34600"/>
<arg name="fcu_url" default="udp://:14544@localhost:34600"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
@ -458,7 +458,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="16"/>
<arg name="ID_in_group" value="15"/>
<arg name="fcu_url" default="udp://:14545@127.0.0.1:34602"/>
<arg name="fcu_url" default="udp://:14545@localhost:34602"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
@ -487,7 +487,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="17"/>
<arg name="ID_in_group" value="16"/>
<arg name="fcu_url" default="udp://:14546@127.0.0.1:34604"/>
<arg name="fcu_url" default="udp://:14546@localhost:34604"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
@ -516,7 +516,7 @@
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="18"/>
<arg name="ID_in_group" value="17"/>
<arg name="fcu_url" default="udp://:14547@127.0.0.1:34606"/>
<arg name="fcu_url" default="udp://:14547@localhost:34606"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>

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sitl_config/worlds/robocup.world Executable file → Normal file
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