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更新yolo

This commit is contained in:
Robin Shaun 2020-05-20 13:30:28 +08:00
parent 2ae78b2793
commit 897559e9fc
15 changed files with 934 additions and 317 deletions
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34
communication/multirotor_communication.py
View File

@ -102,17 +102,31 @@ class Communication:
target_raw_pose = PositionTarget()
target_raw_pose.coordinate_frame = self.coordinate_frame
target_raw_pose.position.x = x
target_raw_pose.position.y = y
target_raw_pose.position.z = z
if self.coordinate_frame == 1:
target_raw_pose.position.x = x
target_raw_pose.position.y = y
target_raw_pose.position.z = z
target_raw_pose.velocity.x = vx
target_raw_pose.velocity.y = vy
target_raw_pose.velocity.z = vz
target_raw_pose.acceleration_or_force.x = afx
target_raw_pose.acceleration_or_force.y = afy
target_raw_pose.acceleration_or_force.z = afz
target_raw_pose.velocity.x = vx
target_raw_pose.velocity.y = vy
target_raw_pose.velocity.z = vz
target_raw_pose.acceleration_or_force.x = afx
target_raw_pose.acceleration_or_force.y = afy
target_raw_pose.acceleration_or_force.z = afz
else:
target_raw_pose.position.x = -y
target_raw_pose.position.y = x
target_raw_pose.position.z = z
target_raw_pose.velocity.x = -vy
target_raw_pose.velocity.y = vx
target_raw_pose.velocity.z = vz
target_raw_pose.acceleration_or_force.x = afx
target_raw_pose.acceleration_or_force.y = afy
target_raw_pose.acceleration_or_force.z = afz
target_raw_pose.yaw = yaw
target_raw_pose.yaw_rate = yaw_rate

15
communication/plane_communication.py
View File

@ -84,11 +84,16 @@ class Communication:
def construct_target(self, x=0, y=0, z=0):
target_raw_pose = PositionTarget()
target_raw_pose.coordinate_frame = 1
target_raw_pose.coordinate_frame = self.coordinate_frame
target_raw_pose.position.x = x
target_raw_pose.position.y = y
target_raw_pose.position.z = z
if self.coordinate_frame == 1:
target_raw_pose.position.x = x
target_raw_pose.position.y = y
target_raw_pose.position.z = z
else:
target_raw_pose.position.x = -y
target_raw_pose.position.y = x
target_raw_pose.position.z = z
if self.mission == 'takeoff':
target_raw_pose.type_mask = 4096
@ -102,9 +107,11 @@ class Communication:
return target_raw_pose
def cmd_pose_flu_callback(self, msg):
self.coordinate_frame = 9
self.target_motion = self.construct_target(x=msg.position.x,y=msg.position.y,z=msg.position.z)
def cmd_pose_enu_callback(self, msg):
self.coordinate_frame = 1
self.target_motion = self.construct_target(x=msg.position.x,y=msg.position.y,z=msg.position.z)
def cmd_callback(self, msg):

22
communication/rover_communication.py
View File

@ -92,13 +92,23 @@ class Communication:
target_raw_pose = PositionTarget()
target_raw_pose.coordinate_frame = self.coordinate_frame
target_raw_pose.position.x = x
target_raw_pose.position.y = y
target_raw_pose.position.z = z
if self.coordinate_frame == 1:
target_raw_pose.position.x = x
target_raw_pose.position.y = y
target_raw_pose.position.z = z
target_raw_pose.velocity.x = vx
target_raw_pose.velocity.y = vy
target_raw_pose.velocity.z = vz
target_raw_pose.velocity.x = vx
target_raw_pose.velocity.y = vy
target_raw_pose.velocity.z = vz
else:
target_raw_pose.position.x = -y
target_raw_pose.position.y = x
target_raw_pose.position.z = z
target_raw_pose.velocity.x = -vy
target_raw_pose.velocity.y = vx
target_raw_pose.velocity.z = vz
target_raw_pose.yaw = yaw

34
communication/vtol_communication.py
View File

@ -105,9 +105,14 @@ class Communication:
target_raw_pose = PositionTarget()
target_raw_pose.coordinate_frame = self.coordinate_frame
target_raw_pose.position.x = x
target_raw_pose.position.y = y
target_raw_pose.position.z = z
if self.coordinate_frame == 1:
target_raw_pose.position.x = x
target_raw_pose.position.y = y
target_raw_pose.position.z = z
else:
target_raw_pose.position.x = -y
target_raw_pose.position.y = x
target_raw_pose.position.z = z
if self.transition_state == 'plane':
if self.plane_mission == 'takeoff':
target_raw_pose.type_mask = 4096
@ -118,13 +123,22 @@ class Communication:
else:
target_raw_pose.type_mask = 16384
else:
target_raw_pose.velocity.x = vx
target_raw_pose.velocity.y = vy
target_raw_pose.velocity.z = vz
target_raw_pose.acceleration_or_force.x = afx
target_raw_pose.acceleration_or_force.y = afy
target_raw_pose.acceleration_or_force.z = afz
if self.coordinate_frame == 1:
target_raw_pose.velocity.x = vx
target_raw_pose.velocity.y = vy
target_raw_pose.velocity.z = vz
target_raw_pose.acceleration_or_force.x = afx
target_raw_pose.acceleration_or_force.y = afy
target_raw_pose.acceleration_or_force.z = afz
else:
target_raw_pose.velocity.x = -vy
target_raw_pose.velocity.y = vx
target_raw_pose.velocity.z = vz
target_raw_pose.acceleration_or_force.x = -afy
target_raw_pose.acceleration_or_force.y = afx
target_raw_pose.acceleration_or_force.z = afz
target_raw_pose.yaw = yaw
target_raw_pose.yaw_rate = yaw_rate

2
control/multirotor_keyboard_control.py
View File

@ -249,7 +249,7 @@ if __name__=="__main__":
elif angular < -MAX_ANG_VEL:
angular = - MAX_ANG_VEL
twist.linear.x = -leftward; twist.linear.y = forward ; twist.linear.z = upward
twist.linear.x = forward; twist.linear.y = leftward ; twist.linear.z = upward
twist.angular.x = 0.0; twist.angular.y = 0.0; twist.angular.z = angular
for i in range(multirotor_num):

4
control/plane_keyboard_control.py
View File

@ -90,7 +90,7 @@ if __name__=="__main__":
multi_cmd_vel_flu_pub = [None]*plane_num
multi_cmd_pub = [None]*plane_num
for i in range(plane_num):
multi_cmd_vel_flu_pub[i] = rospy.Publisher('/xtdrone/plane_'+str(i)+'/cmd_pose_enu', Pose, queue_size=10)
multi_cmd_vel_flu_pub[i] = rospy.Publisher('/xtdrone/plane_'+str(i)+'/cmd_pose_flu', Pose, queue_size=10)
multi_cmd_pub[i] = rospy.Publisher('/xtdrone/plane_'+str(i)+'/cmd',String,queue_size=10)
leader_cmd_vel_pub = rospy.Publisher("/xtdrone/leader/cmd_pose", Pose, queue_size=10)
leader_cmd_pub = rospy.Publisher("/xtdrone/leader_cmd", String, queue_size=10)
@ -202,7 +202,7 @@ if __name__=="__main__":
elif angular < -MAX_ANG_VEL:
angular = - MAX_ANG_VEL
pose.position.x = leftward; pose.position.y = forward; pose.position.z = upward
pose.position.x = forward; pose.position.y = leftward; pose.position.z = upward
pose.orientation.x = 0.0; pose.orientation.y = 0.0; pose.orientation.z = angular

2
control/rover_keyboard_control.py
View File

@ -163,7 +163,7 @@ if __name__=="__main__":
elif angle < -MAX_ANGLE:
angle = -MAX_ANGLE
twist.linear.x = -angle; twist.linear.y = forward
twist.linear.x = forward; twist.linear.y = angle
for i in range(rover_num):
if ctrl_leader:

7
control/rover_self_driving.py
View File

@ -12,10 +12,11 @@ def lane_mid_error_callback(msg):
twist.linear.y = 0.0
else:
if abs(msg.data) > 20:
twist.linear.x = Kp * msg.data
twist.linear.y = - Kp * msg.data
else:
twist.linear.x = 0.0
twist.linear.y = Vx * (1 - twist.linear.x)
twist.linear.y = 0.0
twist.linear.x = Vx * (1 - twist.linear.x)
if __name__ == "__main__":

4
control/vtol_keyboard_multi_control.py
View File

@ -265,12 +265,12 @@ if __name__=="__main__":
if transition_state == 'plane':
pose.position.x = -leftward; pose.position.y = forward; pose.position.z = upward
pose.position.x = forward; pose.position.y = leftward; pose.position.z = upward
pose.orientation.x = 0.0; pose.orientation.y = 0.0; pose.orientation.z = angular
else:
twist.linear.x = - leftward; twist.linear.y = forward; twist.linear.z = upward
twist.linear.x = forward; twist.linear.y = leftward; twist.linear.z = upward
twist.angular.x = 0.0; twist.angular.y = 0.0; twist.angular.z = angular

50
control/yolo_human_tracking.py
View File

@ -1,40 +1,44 @@
import rospy
from geometry_msgs.msg import Twist
from std_msgs.msg import String
import sys
sys.path.append('/home/robin/catkin_ws/devel/lib/python2.7/dist-packages')
from darknet_ros_msgs.msg import BoundingBoxes
import time
import math
twist = Twist()
def darknet_callback(data):
global twist, cmd
for target in data.bounding_boxes:
print(target.id)
if(target.id==0):
print('find human')
x_error=y_center-(target.ymax+target.ymin)/2
y_error=x_center-(target.xmax+target.xmin)/2
twist.linear.x = Kp_linear*x_error
twist.linear.y = 0.0
twist.linear.z = 0.0
twist.angular.x = 0.0
twist.angular.y = 0.0
twist.angular.z = Kp_angular*math.atan(y_error/x_error)
cmd = ''
else:
twist.linear.x = 0.0
twist.linear.y = 0.0
twist.linear.z = 0.0
twist.angular.x = 0.0
twist.angular.y = 0.0
twist.angular.z = 0.0
Kp_linear=0.05
Kp_angular=0.2/math.pi
x_center=752/2
y_center=480/2
rospy.init_node('yolo_human_tracking')
rospy.Subscriber("/darknet_ros/bounding_boxes", BoundingBoxes, darknet_callback)
pub = rospy.Publisher('/xtdrone/cmd_vel_flu', Twist, queue_size=10)
rate = rospy.Rate(60)
while(True):
rate.sleep()
pub.publish(twist)
twist.angular.z = 0.0
cmd = 'HOVER'
if __name__ == "__main__":
twist = Twist()
cmd = String()
Kp_linear=0.05
Kp_angular=0.2/math.pi
x_center=752/2
y_center=480/2
vehicle_type = sys.argv[1]
rospy.init_node('yolo_human_tracking')
rospy.Subscriber("/darknet_ros/bounding_boxes", BoundingBoxes, darknet_callback)
vel_pub = rospy.Publisher('/xtdrone/'+vehicle_type+'_0/cmd_vel_flu', Twist, queue_size=2)
cmd_pub = rospy.Publisher('/xtdrone/'+vehicle_type+'_0/cmd', String, queue_size=2)
rate = rospy.Rate(60)
while(True):
rate.sleep()
vel_pub.publish(twist)
cmd_pub.publish(cmd)

20
coordination/launch/launch_head_1.11
View File

@ -1,20 +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>

196
coordination/launch/multi_vehicle.launch
View File

@ -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="$(find mavlink_sitl_gazebo)/worlds/outdoor2.world"/>
<!-- gazebo configs -->
<arg name="gui" default="true"/>
<arg name="debug" default="false"/>
<arg name="verbose" default="false"/>
<arg name="paused" default="false"/>
<!-- Gazebo sim -->
<include file="$(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="$(arg paused)"/>
</include>
<!-- rover_0 -->
<group ns="rover_0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="1"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:14541@127.0.0.1:34572"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(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="rover"/>
<arg name="sdf" value="rover_with_lidar_stereo"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- rover_1 -->
<group ns="rover_1">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="2"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:14542@127.0.0.1:34574"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(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="rover"/>
<arg name="sdf" value="rover_with_lidar_stereo"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- rover_2 -->
<group ns="rover_2">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="3"/>
<arg name="ID_in_group" value="2"/>
<arg name="fcu_url" default="udp://:14543@127.0.0.1:34576"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(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="rover"/>
<arg name="sdf" value="rover_with_lidar_stereo"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- solo_0 -->
<group ns="solo_0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="4"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:14544@127.0.0.1:34578"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(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="solo"/>
<arg name="sdf" value="solo_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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- solo_1 -->
<group ns="solo_1">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="5"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:14545@127.0.0.1:34580"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
<arg name="y" value="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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- solo_2 -->
<group ns="solo_2">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="6"/>
<arg name="ID_in_group" value="2"/>
<arg name="fcu_url" default="udp://:14546@127.0.0.1:34582"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="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="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>
</launch>
<!--the launch file is generated by XTDrone multi-vehicle generator.py -->

0
coordination/launch/generator.py → coordination/launch_generator/generator.py
View File

859
coordination/launch_generator/multi_vehicle.launch
View File

@ -21,21 +21,21 @@
<!-- rover_0 -->
<group ns="rover_0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="0"/>
<arg name="ID" value="1"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:14540@127.0.0.1:34570"/>
<arg name="fcu_url" default="udp://:14541@127.0.0.1:34572"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
<arg name="x" value="0"/>
<arg name="y" value="3"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="rover"/>
<arg name="sdf" value="rover_with_sensors"/>
<arg name="mavlink_udp_port" value="24560"/>
<arg name="mavlink_tcp_port" value="4560"/>
<arg name="sdf" value="rover_with_lidar_stereo"/>
<arg name="mavlink_udp_port" value="24562"/>
<arg name="mavlink_tcp_port" value="4561"/>
<arg name="ID" value="$(arg ID)"/>
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
</include>
@ -50,21 +50,21 @@
<!-- rover_1 -->
<group ns="rover_1">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="1"/>
<arg name="ID" value="2"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:14541@127.0.0.1:34572"/>
<arg name="fcu_url" default="udp://:14542@127.0.0.1:34574"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
<arg name="y" value="3"/>
<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="rover"/>
<arg name="sdf" value="rover_with_sensors"/>
<arg name="mavlink_udp_port" value="24562"/>
<arg name="mavlink_tcp_port" value="4561"/>
<arg name="sdf" value="rover_with_lidar_stereo"/>
<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>
@ -79,21 +79,108 @@
<!-- rover_2 -->
<group ns="rover_2">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="2"/>
<arg name="ID" value="3"/>
<arg name="ID_in_group" value="2"/>
<arg name="fcu_url" default="udp://:14542@127.0.0.1:34574"/>
<arg name="fcu_url" default="udp://:14543@127.0.0.1:34576"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="9"/>
<arg name="y" value="3"/>
<arg name="x" value="0"/>
<arg name="y" value="9"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="rover"/>
<arg name="sdf" value="rover_with_sensors"/>
<arg name="mavlink_udp_port" value="24564"/>
<arg name="mavlink_tcp_port" value="4562"/>
<arg name="sdf" value="rover_with_lidar_stereo"/>
<arg name="mavlink_udp_port" value="24566"/>
<arg name="mavlink_tcp_port" value="4563"/>
<arg name="ID" value="$(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>
<!-- plane_0 -->
<group ns="plane_0">
<!-- 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"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="6"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="plane"/>
<arg name="sdf" value="plane"/>
<arg name="mavlink_udp_port" value="24568"/>
<arg name="mavlink_tcp_port" value="4564"/>
<arg name="ID" value="$(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>
<!-- plane_1 -->
<group ns="plane_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="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="9"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="plane"/>
<arg name="sdf" value="plane"/>
<arg name="mavlink_udp_port" value="24570"/>
<arg name="mavlink_tcp_port" value="4565"/>
<arg name="ID" value="$(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>
<!-- plane_2 -->
<group ns="plane_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="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="12"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="plane"/>
<arg name="sdf" value="plane"/>
<arg name="mavlink_udp_port" value="24572"/>
<arg name="mavlink_tcp_port" value="4566"/>
<arg name="ID" value="$(arg ID)"/>
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
</include>
@ -108,21 +195,21 @@
<!-- typhoon_h480_0 -->
<group ns="typhoon_h480_0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="3"/>
<arg name="ID" value="7"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:14543@127.0.0.1:34576"/>
<arg name="fcu_url" default="udp://:14547@127.0.0.1:34584"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
<arg name="y" value="3"/>
<arg name="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_stereo"/>
<arg name="mavlink_udp_port" value="24566"/>
<arg name="mavlink_tcp_port" value="4563"/>
<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>
@ -137,21 +224,21 @@
<!-- typhoon_h480_1 -->
<group ns="typhoon_h480_1">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="4"/>
<arg name="ID" value="8"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:14544@127.0.0.1:34578"/>
<arg name="fcu_url" default="udp://:14548@127.0.0.1:34586"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="9"/>
<arg name="y" value="3"/>
<arg name="x" value="0"/>
<arg name="y" value="12"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="typhoon_h480"/>
<arg name="sdf" value="typhoon_h480_stereo"/>
<arg name="mavlink_udp_port" value="24568"/>
<arg name="mavlink_tcp_port" value="4564"/>
<arg name="mavlink_udp_port" value="24576"/>
<arg name="mavlink_tcp_port" value="4568"/>
<arg name="ID" value="$(arg ID)"/>
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
</include>
@ -166,21 +253,717 @@
<!-- typhoon_h480_2 -->
<group ns="typhoon_h480_2">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="5"/>
<arg name="ID" value="9"/>
<arg name="ID_in_group" value="2"/>
<arg name="fcu_url" default="udp://:14545@127.0.0.1:34580"/>
<arg name="fcu_url" default="udp://:14549@127.0.0.1:34588"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="12"/>
<arg name="y" value="3"/>
<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="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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- solo_0 -->
<group ns="solo_0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="10"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:14550@127.0.0.1:34590"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- solo_1 -->
<group ns="solo_1">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="11"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:14551@127.0.0.1:34592"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- solo_2 -->
<group ns="solo_2">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="12"/>
<arg name="ID_in_group" value="2"/>
<arg name="fcu_url" default="udp://:14552@127.0.0.1:34594"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- solo_3 -->
<group ns="solo_3">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="13"/>
<arg name="ID_in_group" value="3"/>
<arg name="fcu_url" default="udp://:14553@127.0.0.1:34596"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="21"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="solo"/>
<arg name="sdf" value="solo_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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- solo_4 -->
<group ns="solo_4">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="14"/>
<arg name="ID_in_group" value="4"/>
<arg name="fcu_url" default="udp://:14554@127.0.0.1:34598"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="24"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="solo"/>
<arg name="sdf" value="solo_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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- solo_5 -->
<group ns="solo_5">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="15"/>
<arg name="ID_in_group" value="5"/>
<arg name="fcu_url" default="udp://:14555@127.0.0.1:34600"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="27"/>
<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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_0 -->
<group ns="iris_0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="16"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:14556@127.0.0.1:34602"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_1 -->
<group ns="iris_1">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="17"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:14557@127.0.0.1:34604"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_2 -->
<group ns="iris_2">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="18"/>
<arg name="ID_in_group" value="2"/>
<arg name="fcu_url" default="udp://:14558@127.0.0.1:34606"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="21"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="iris"/>
<arg name="sdf" value="iris_stereo_camera"/>
<arg name="mavlink_udp_port" value="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_3 -->
<group ns="iris_3">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="19"/>
<arg name="ID_in_group" value="3"/>
<arg name="fcu_url" default="udp://:14559@127.0.0.1:34608"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="24"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="iris"/>
<arg name="sdf" value="iris_stereo_camera"/>
<arg name="mavlink_udp_port" value="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_4 -->
<group ns="iris_4">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="20"/>
<arg name="ID_in_group" value="4"/>
<arg name="fcu_url" default="udp://:14560@127.0.0.1:34610"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="27"/>
<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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_5 -->
<group ns="iris_5">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="21"/>
<arg name="ID_in_group" value="5"/>
<arg name="fcu_url" default="udp://:14561@127.0.0.1:34612"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="30"/>
<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="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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- tiltrotor_0 -->
<group ns="tiltrotor_0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="22"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:14562@127.0.0.1:34614"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(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="tiltrotor"/>
<arg name="sdf" value="tiltrotor"/>
<arg name="mavlink_udp_port" value="24604"/>
<arg name="mavlink_tcp_port" value="4582"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- tiltrotor_1 -->
<group ns="tiltrotor_1">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="23"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:14563@127.0.0.1:34616"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="21"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="tiltrotor"/>
<arg name="sdf" value="tiltrotor"/>
<arg name="mavlink_udp_port" value="24606"/>
<arg name="mavlink_tcp_port" value="4583"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- tiltrotor_2 -->
<group ns="tiltrotor_2">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="24"/>
<arg name="ID_in_group" value="2"/>
<arg name="fcu_url" default="udp://:14564@127.0.0.1:34618"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="24"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="tiltrotor"/>
<arg name="sdf" value="tiltrotor"/>
<arg name="mavlink_udp_port" value="24608"/>
<arg name="mavlink_tcp_port" value="4584"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- tailsitter_0 -->
<group ns="tailsitter_0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="25"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:14565@127.0.0.1:34620"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="21"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="tailsitter"/>
<arg name="sdf" value="tailsitter"/>
<arg name="mavlink_udp_port" value="24610"/>
<arg name="mavlink_tcp_port" value="4585"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- tailsitter_1 -->
<group ns="tailsitter_1">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="26"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:14566@127.0.0.1:34622"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="24"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="tailsitter"/>
<arg name="sdf" value="tailsitter"/>
<arg name="mavlink_udp_port" value="24612"/>
<arg name="mavlink_tcp_port" value="4586"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- tailsitter_2 -->
<group ns="tailsitter_2">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="27"/>
<arg name="ID_in_group" value="2"/>
<arg name="fcu_url" default="udp://:14567@127.0.0.1:34624"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="27"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="tailsitter"/>
<arg name="sdf" value="tailsitter"/>
<arg name="mavlink_udp_port" value="24614"/>
<arg name="mavlink_tcp_port" value="4587"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- tailsitter_3 -->
<group ns="tailsitter_3">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="28"/>
<arg name="ID_in_group" value="3"/>
<arg name="fcu_url" default="udp://:14568@127.0.0.1:34626"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="30"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="tailsitter"/>
<arg name="sdf" value="tailsitter"/>
<arg name="mavlink_udp_port" value="24616"/>
<arg name="mavlink_tcp_port" value="4588"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- tailsitter_4 -->
<group ns="tailsitter_4">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="29"/>
<arg name="ID_in_group" value="4"/>
<arg name="fcu_url" default="udp://:14569@127.0.0.1:34628"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="33"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="tailsitter"/>
<arg name="sdf" value="tailsitter"/>
<arg name="mavlink_udp_port" value="24618"/>
<arg name="mavlink_tcp_port" value="4589"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- tailsitter_5 -->
<group ns="tailsitter_5">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="30"/>
<arg name="ID_in_group" value="5"/>
<arg name="fcu_url" default="udp://:14570@127.0.0.1:34630"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="36"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="tailsitter"/>
<arg name="sdf" value="tailsitter"/>
<arg name="mavlink_udp_port" value="24620"/>
<arg name="mavlink_tcp_port" value="4590"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- standard_vtol_0 -->
<group ns="standard_vtol_0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="31"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:14571@127.0.0.1:34632"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="24"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="standard_vtol"/>
<arg name="sdf" value="standard_vtol"/>
<arg name="mavlink_udp_port" value="24622"/>
<arg name="mavlink_tcp_port" value="4591"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- standard_vtol_1 -->
<group ns="standard_vtol_1">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="32"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:14572@127.0.0.1:34634"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="27"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="standard_vtol"/>
<arg name="sdf" value="standard_vtol"/>
<arg name="mavlink_udp_port" value="24624"/>
<arg name="mavlink_tcp_port" value="4592"/>
<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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- standard_vtol_2 -->
<group ns="standard_vtol_2">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="33"/>
<arg name="ID_in_group" value="2"/>
<arg name="fcu_url" default="udp://:14573@127.0.0.1:34636"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="30"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="standard_vtol"/>
<arg name="sdf" value="standard_vtol"/>
<arg name="mavlink_udp_port" value="24626"/>
<arg name="mavlink_tcp_port" value="4593"/>
<arg name="ID" value="$(arg ID)"/>
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
</include>

2
sensing/object_detection_and_tracking/YOLO/darknet_ros/darknet_ros/config/px4_tracking.yaml
View File

@ -1,7 +1,7 @@
subscribers:
camera_reading:
topic: /stereo/camera/left/image_raw
topic: /iris_0/stereo/camera/left/image_raw
queue_size: 1
actions: