增加了多机型协同的功能
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# The default ``config.py``
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# flake8: noqa
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def set_prefs(prefs):
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"""This function is called before opening the project"""
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# Specify which files and folders to ignore in the project.
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# Changes to ignored resources are not added to the history and
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# VCSs. Also they are not returned in `Project.get_files()`.
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# Note that ``?`` and ``*`` match all characters but slashes.
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# '*.pyc': matches 'test.pyc' and 'pkg/test.pyc'
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# 'mod*.pyc': matches 'test/mod1.pyc' but not 'mod/1.pyc'
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# '.svn': matches 'pkg/.svn' and all of its children
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# 'build/*.o': matches 'build/lib.o' but not 'build/sub/lib.o'
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# 'build//*.o': matches 'build/lib.o' and 'build/sub/lib.o'
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prefs['ignored_resources'] = ['*.pyc', '*~', '.ropeproject',
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'.hg', '.svn', '_svn', '.git', '.tox']
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# Specifies which files should be considered python files. It is
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# useful when you have scripts inside your project. Only files
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# ending with ``.py`` are considered to be python files by
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# default.
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# prefs['python_files'] = ['*.py']
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# Custom source folders: By default rope searches the project
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# for finding source folders (folders that should be searched
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# for finding modules). You can add paths to that list. Note
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# that rope guesses project source folders correctly most of the
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# time; use this if you have any problems.
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# The folders should be relative to project root and use '/' for
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# separating folders regardless of the platform rope is running on.
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# 'src/my_source_folder' for instance.
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# prefs.add('source_folders', 'src')
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# You can extend python path for looking up modules
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# prefs.add('python_path', '~/python/')
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# Should rope save object information or not.
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prefs['save_objectdb'] = True
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prefs['compress_objectdb'] = False
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# If `True`, rope analyzes each module when it is being saved.
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prefs['automatic_soa'] = True
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# The depth of calls to follow in static object analysis
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prefs['soa_followed_calls'] = 0
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# If `False` when running modules or unit tests "dynamic object
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# analysis" is turned off. This makes them much faster.
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prefs['perform_doa'] = True
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# Rope can check the validity of its object DB when running.
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prefs['validate_objectdb'] = True
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# How many undos to hold?
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prefs['max_history_items'] = 32
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# Shows whether to save history across sessions.
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prefs['save_history'] = True
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prefs['compress_history'] = False
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# Set the number spaces used for indenting. According to
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# :PEP:`8`, it is best to use 4 spaces. Since most of rope's
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# unit-tests use 4 spaces it is more reliable, too.
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prefs['indent_size'] = 4
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# Builtin and c-extension modules that are allowed to be imported
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# and inspected by rope.
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prefs['extension_modules'] = []
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# Add all standard c-extensions to extension_modules list.
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prefs['import_dynload_stdmods'] = True
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# If `True` modules with syntax errors are considered to be empty.
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# The default value is `False`; When `False` syntax errors raise
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# `rope.base.exceptions.ModuleSyntaxError` exception.
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prefs['ignore_syntax_errors'] = False
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# If `True`, rope ignores unresolvable imports. Otherwise, they
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# appear in the importing namespace.
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prefs['ignore_bad_imports'] = False
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# If `True`, rope will insert new module imports as
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# `from <package> import <module>` by default.
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prefs['prefer_module_from_imports'] = False
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# If `True`, rope will transform a comma list of imports into
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# multiple separate import statements when organizing
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# imports.
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prefs['split_imports'] = False
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# If `True`, rope will remove all top-level import statements and
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# reinsert them at the top of the module when making changes.
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prefs['pull_imports_to_top'] = True
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# If `True`, rope will sort imports alphabetically by module name instead
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# of alphabetically by import statement, with from imports after normal
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# imports.
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prefs['sort_imports_alphabetically'] = False
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# Location of implementation of
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# rope.base.oi.type_hinting.interfaces.ITypeHintingFactory In general
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# case, you don't have to change this value, unless you're an rope expert.
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# Change this value to inject you own implementations of interfaces
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# listed in module rope.base.oi.type_hinting.providers.interfaces
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# For example, you can add you own providers for Django Models, or disable
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# the search type-hinting in a class hierarchy, etc.
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prefs['type_hinting_factory'] = (
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'rope.base.oi.type_hinting.factory.default_type_hinting_factory')
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def project_opened(project):
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"""This function is called after opening the project"""
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# Do whatever you like here!
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@ -1,3 +1,3 @@
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{
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"python.pythonPath": "/usr/bin/python"
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"python.pythonPath": "/home/peter/NewDisk/anaconda3/envs/torch/bin/python"
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}
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@ -0,0 +1,139 @@
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import sys
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welcome_msg = """
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,----,
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,/ .`|
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,--, ,--, ,` .' : ,---,
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|'. \ / .`| ; ; / .' .' `\
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; \ `\ /' / ;.'___,/ ,',---.' \ __ ,-. ,---. ,---,
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`. \ / / .'| : | | | .`\ |,' ,'/ /| ' ,'\ ,-+-. / |
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\ \/ / ./ ; |.'; ; : : | ' |' | |' | / / | ,--.'|' | ,---.
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\ \.' / `----' | | | ' ' ; :| | ,'. ; ,. :| | ,"' | / \
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\ ; ; ' : ; ' | ; . |' : / ' | |: :| | / | | / / |
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/ \ \ \ | | ' | | : | '| | ' ' | .; :| | | | |. ' / |
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; /\ \ \ ' : | ' : | / ; ; : | | : || | | |/ ' ; /|
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./__; \ ; \ ; |.' | | '` ,/ | , ; \ \ / | | |--' ' | / |
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| : / \ \ ; '---' ; : .' ---' `----' | |/ | : |
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; |/ \ ' | | ,.' '---' \ \ /
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`---' `--` '---' `----'
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Welcome to use the XTDrone multi-vehicle launch file generator!
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"""
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input_msg= """
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0. rover
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1. plane
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2. typhoon_h480
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3. solo
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4. iris
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5. tiltrotor
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6. tailsitter
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7. standard_vtol
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Enter the TYPE_ID to add a vehicle type.
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Then enter f to generate!
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(defalt type is "iris")
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"""
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TYPE_ID_DICT = {
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"rover" : 0,
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"plane" : 1,
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"typhoon_h480" : 2,
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"solo_stereo_camera" : 3,
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"iris_stereo_camera" : 4,
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"tiltrotor" : 5,
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"tailsitter" : 6,
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"standard_vtol" : 7,
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}
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ID_TYPE_DICT = {v : k for k, v in TYPE_ID_DICT.items()}
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print(welcome_msg)
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TYPE_ID = 4
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num_of_all = 0
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num_of_type = [0]*8
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while TYPE_ID != 'f':
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TYPE_ID = input(input_msg)
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if TYPE_ID>='0' and TYPE_ID<='7':
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num_of_type[int(TYPE_ID)] = int( input("Enter the num of "+ID_TYPE_DICT[int(TYPE_ID)]+" :" ) )
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elif TYPE_ID == 'f':
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for i in range(7):
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if num_of_type[i] != 0:
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print(ID_TYPE_DICT[i]+' num : '+str(num_of_type[i]))
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print('generating........')
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else:
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print("error!please enter a id_in_allber between 0 to 7!")
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num_of_all = sum(num_of_type)
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with open('launch_head_1.11','r') as f:
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launch_head=[]
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launch_head=f.read()
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with open('launch_temp_1.11','r') as f:
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launch_lines=[]
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for line in f.readlines():
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launch_lines.append(line)
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with open('./launch_xtd/multi_vehicle.launch','w') as f:
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f.write(launch_head)
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id_in_all = 0
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row_num = 0
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for type_id in range(8):
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type_num = num_of_type[type_id]
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sdf_name = ID_TYPE_DICT[type_id]
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# For example,
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# While "iris_stereo_camera" is the model name,
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# and we only need the "iris" to publish those topics.
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if "h480" in sdf_name or "vtol" in sdf_name:
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type_name = sdf_name.split('_')[0]+'_'+sdf_name.split('_')[1]
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else:
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type_name = sdf_name.split('_')[0]
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if type_num > 0:
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row_num +=1
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for id_in_type in range(1,type_num+1):
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id_in_all+=1
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mavlink_1=34570-1+id_in_all*2
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mavlink_2=mavlink_1+1
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onboard=14540+id_in_all
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SITL=24560+(id_in_all)*2
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TCP=4560+id_in_all
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for line in launch_lines:
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if "<!-- UAV" in line:
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f.write(" <!-- "+type_name+("_%d -->\n" %id_in_type) )
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elif "<group ns" in line:
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f.write(''' <group ns="%s_%d">\n''' %(type_name,id_in_type) )
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elif '''<arg name="ID" value="0"/>''' in line:
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f.write(''' <arg name="ID" value="%d"/>\n''' %id_in_all)
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elif "udp://:" in line:
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f.write(''' <arg name="fcu_url" default="udp://:%d@127.0.0.1:%d"/>\n''' %(onboard,mavlink_2))
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elif "mavlink_udp_port" in line:
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f.write(''' <arg name="mavlink_udp_port" value="%d"/>\n'''%SITL)
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elif "mavlink_tcp_port" in line:
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f.write(''' <arg name="mavlink_tcp_port" value="%d"/>\n'''%TCP)
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elif '''<arg name="vehicle" value=''' in line:
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f.write(''' <arg name="vehicle" value="%s"/>\n'''%type_name)
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elif '''<arg name="sdf" value=''' in line:
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f.write(''' <arg name="sdf" value="%s"/>\n'''%sdf_name)
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elif '''name="x"''' in line:
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f.write(''' <arg name="x" value="%d"/>\n'''%( (row_num-1)*3 ) )
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elif '''name="y"''' in line:
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f.write(''' <arg name="y" value="%d"/>\n''' %(id_in_type*3) )
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else:
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f.write('%s' %line)
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f.write("\n")
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f.write('</launch>\n')
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f.write('<!--the launch file is generated by XTDrone multi-vehicle generator.py -->')
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print ("all down!")
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<?xml version="1.0"?>
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<launch>
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<!-- MAVROS posix SITL environment launch script -->
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<!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
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<!-- vehicle model and world -->
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<arg name="est" default="ekf2"/>
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<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
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<!-- gazebo configs -->
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<arg name="gui" default="true"/>
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<arg name="debug" default="false"/>
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<arg name="verbose" default="false"/>
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<arg name="paused" default="false"/>
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<!-- Gazebo sim -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="gui" value="$(arg gui)"/>
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<arg name="world_name" value="$(arg world)"/>
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<arg name="debug" value="$(arg debug)"/>
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<arg name="verbose" value="$(arg verbose)"/>
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<arg name="paused" value="$(arg paused)"/>
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</include>
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<!-- UAV0 -->
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<group ns="uav0">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="0"/>
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<arg name="fcu_url" default="udp://:14540@localhost:14580"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="0"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="plane"/>
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<arg name="sdf" value="plane"/>
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<arg name="mavlink_udp_port" value="14560"/>
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<arg name="mavlink_tcp_port" value="4560"/>
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<arg name="ID" value="$(arg ID)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<?xml version="1.0"?>
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<launch>
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<!-- MAVROS posix SITL environment launch script -->
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<!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
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<!-- vehicle model and world -->
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<arg name="est" default="ekf2"/>
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<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
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<!-- gazebo configs -->
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<arg name="gui" default="true"/>
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<arg name="debug" default="false"/>
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<arg name="verbose" default="false"/>
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<arg name="paused" default="false"/>
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<!-- Gazebo sim -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="gui" value="$(arg gui)"/>
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<arg name="world_name" value="$(arg world)"/>
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<arg name="debug" value="$(arg debug)"/>
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<arg name="verbose" value="$(arg verbose)"/>
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<arg name="paused" value="$(arg paused)"/>
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</include>
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<!-- solo_1 -->
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<group ns="solo_1">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="1"/>
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<arg name="fcu_url" default="udp://:14541@127.0.0.1:34572"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="4"/>
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<arg name="y" value="4"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="solo"/>
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<arg name="sdf" value="solo_stereo_camera"/>
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<arg name="mavlink_udp_port" value="24562"/>
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<arg name="mavlink_tcp_port" value="4561"/>
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<arg name="ID" value="$(arg ID)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- solo_2 -->
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<group ns="solo_2">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="2"/>
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<arg name="fcu_url" default="udp://:14542@127.0.0.1:34574"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="4"/>
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<arg name="y" value="8"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="solo"/>
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<arg name="sdf" value="solo_stereo_camera"/>
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<arg name="mavlink_udp_port" value="24564"/>
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<arg name="mavlink_tcp_port" value="4562"/>
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<arg name="ID" value="$(arg ID)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_1 -->
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<group ns="iris_1">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="3"/>
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<arg name="fcu_url" default="udp://:14543@127.0.0.1:34576"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="8"/>
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<arg name="y" value="4"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="24566"/>
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<arg name="mavlink_tcp_port" value="4563"/>
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<arg name="ID" value="$(arg ID)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
|
||||
<arg name="tgt_system" value="$(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="4"/>
|
||||
<arg name="fcu_url" default="udp://:14544@127.0.0.1:34578"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
|
||||
<arg name="x" value="8"/>
|
||||
<arg name="y" value="8"/>
|
||||
<arg name="z" value="0"/>
|
||||
<arg name="R" value="0"/>
|
||||
<arg name="P" value="0"/>
|
||||
<arg name="Y" value="0"/>
|
||||
<arg name="vehicle" value="iris"/>
|
||||
<arg name="sdf" value="iris_stereo_camera"/>
|
||||
<arg name="mavlink_udp_port" value="24568"/>
|
||||
<arg name="mavlink_tcp_port" value="4564"/>
|
||||
<arg name="ID" value="$(arg ID)"/>
|
||||
</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="$(eval 1 + arg('ID'))"/>
|
||||
<arg name="tgt_component" value="1"/>
|
||||
</include>
|
||||
</group>
|
||||
</launch>
|
||||
<!--the launch file is generated by XTDrone multi-vehicle generator.py -->
|
||||
|
|
@ -0,0 +1,178 @@
|
|||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
<!-- MAVROS posix SITL environment launch script -->
|
||||
<!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
|
||||
<!-- vehicle model and world -->
|
||||
<arg name="est" default="ekf2"/>
|
||||
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
|
||||
<!-- gazebo configs -->
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="debug" default="false"/>
|
||||
<arg name="verbose" default="false"/>
|
||||
<arg name="paused" default="false"/>
|
||||
<!-- Gazebo sim -->
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="world_name" value="$(arg world)"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
<arg name="verbose" value="$(arg verbose)"/>
|
||||
<arg name="paused" value="$(arg paused)"/>
|
||||
</include>
|
||||
<!-- plane1 -->
|
||||
<group ns="plane_1">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="1"/>
|
||||
<arg name="fcu_url" default="udp://:14541@127.0.0. 1:34572"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
|
||||
<arg name="x" value="4"/>
|
||||
<arg name="y" value="4"/>
|
||||
<arg name="z" value="0"/>
|
||||
<arg name="R" value="0"/>
|
||||
<arg name="P" value="0"/>
|
||||
<arg name="Y" value="0"/>
|
||||
<arg name="vehicle" value="plane"/>
|
||||
<arg name="mavlink_udp_port" value="24562"/ >
|
||||
<arg name="mavlink_tcp_port" value="4561"/ >
|
||||
<arg name="ID" value="$(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="$(eval 1 + arg('ID'))"/>
|
||||
<arg name="tgt_component" value="1"/>
|
||||
</include>
|
||||
</group>
|
||||
<!-- plane2 -->
|
||||
<group ns="plane_2">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="2"/>
|
||||
<arg name="fcu_url" default="udp://:14542@127.0.0. 1:34574"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
|
||||
<arg name="x" value="4"/>
|
||||
<arg name="y" value="8"/>
|
||||
<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="mavlink_udp_port" value="24564"/ >
|
||||
<arg name="mavlink_tcp_port" value="4562"/ >
|
||||
<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>
|
||||
<!-- plane3 -->
|
||||
<group ns="plane_3">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="3"/>
|
||||
<arg name="fcu_url" default="udp://:14543@127.0.0. 1:34576"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
|
||||
<arg name="x" value="4"/>
|
||||
<arg name="y" value="12"/>
|
||||
<arg name="z" value="0"/>
|
||||
<arg name="R" value="0"/>
|
||||
<arg name="P" value="0"/>
|
||||
<arg name="Y" value="0"/>
|
||||
<arg name="vehicle" value="plane"/>
|
||||
<arg name="mavlink_udp_port" value="24566"/ >
|
||||
<arg name="mavlink_tcp_port" value="4563"/ >
|
||||
<arg name="ID" value="$(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="$(eval 1 + arg('ID'))"/>
|
||||
<arg name="tgt_component" value="1"/>
|
||||
</include>
|
||||
</group>
|
||||
<!-- typhoon_h4804 -->
|
||||
<group ns="typhoon_h480_1">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="4"/>
|
||||
<arg name="fcu_url" default="udp://:14544@127.0.0. 1:34578"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
|
||||
<arg name="x" value="8"/>
|
||||
<arg name="y" value="4"/>
|
||||
<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="mavlink_udp_port" value="24568"/ >
|
||||
<arg name="mavlink_tcp_port" value="4564"/ >
|
||||
<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>
|
||||
<!-- typhoon_h4805 -->
|
||||
<group ns="typhoon_h480_2">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="5"/>
|
||||
<arg name="fcu_url" default="udp://:14545@127.0.0. 1:34580"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
|
||||
<arg name="x" value="8"/>
|
||||
<arg name="y" value="8"/>
|
||||
<arg name="z" value="0"/>
|
||||
<arg name="R" value="0"/>
|
||||
<arg name="P" value="0"/>
|
||||
<arg name="Y" value="0"/>
|
||||
<arg name="vehicle" value="typhoon_h480"/>
|
||||
<arg name="mavlink_udp_port" value="24570"/ >
|
||||
<arg name="mavlink_tcp_port" value="4565"/ >
|
||||
<arg name="ID" value="$(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="$(eval 1 + arg('ID'))"/>
|
||||
<arg name="tgt_component" value="1"/>
|
||||
</include>
|
||||
</group>
|
||||
<!-- typhoon_h4806 -->
|
||||
<group ns="typhoon_h480_3">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="6"/>
|
||||
<arg name="fcu_url" default="udp://:14546@127.0.0. 1:34582"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
|
||||
<arg name="x" value="8"/>
|
||||
<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="mavlink_udp_port" value="24572"/ >
|
||||
<arg name="mavlink_tcp_port" value="4566"/ >
|
||||
<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>
|
||||
<!--the launch file is generated by XTDrone multi-vehicle generator.py -->
|
||||
|
|
@ -1,6 +1,31 @@
|
|||
#The number of drones
|
||||
import sys
|
||||
uav_num=int(sys.argv[1])
|
||||
|
||||
welcome_msg =
|
||||
"""
|
||||
,----,
|
||||
,/ .`|
|
||||
,--, ,--, ,` .' : ,---,
|
||||
|'. \ / .`| ; ; / .' .' `\
|
||||
; \ `\ /' / ;.'___,/ ,',---.' \ __ ,-. ,---. ,---,
|
||||
`. \ / / .'| : | | | .`\ |,' ,'/ /| ' ,'\ ,-+-. / |
|
||||
\ \/ / ./ ; |.'; ; : : | ' |' | |' | / / | ,--.'|' | ,---.
|
||||
\ \.' / `----' | | | ' ' ; :| | ,'. ; ,. :| | ,"' | / \
|
||||
\ ; ; ' : ; ' | ; . |' : / ' | |: :| | / | | / / |
|
||||
/ \ \ \ | | ' | | : | '| | ' ' | .; :| | | | |. ' / |
|
||||
; /\ \ \ ' : | ' : | / ; ; : | | : || | | |/ ' ; /|
|
||||
./__; \ ; \ ; |.' | | '` ,/ | , ; \ \ / | | |--' ' | / |
|
||||
| : / \ \ ; '---' ; : .' ---' `----' | |/ | : |
|
||||
; |/ \ ' | | ,.' '---' \ \ /
|
||||
`---' `--` '---' `----'
|
||||
|
||||
Welcome to use the XTDrone multi-vehicle launch file generator!
|
||||
|
||||
|
||||
"""
|
||||
|
||||
|
||||
ekf_dir="./ekf2_config/"
|
||||
launch_dir="./launch/"
|
||||
with open('launch_head','r') as f:
|
||||
|
|
@ -23,6 +48,14 @@ with open('ekf2_temp','r') as f:
|
|||
if line!='\n':
|
||||
ekf2lines.append(line)
|
||||
|
||||
with open('launch_head_1.11','r') as f:
|
||||
launch_head_1_11=[]
|
||||
launch_head_1_11=f.read()
|
||||
with open('launch_temp_1.11','r') as f:
|
||||
launch_lines_1_11=[]
|
||||
for line in f.readlines():
|
||||
launch_lines_1_11.append(line)
|
||||
|
||||
|
||||
for num in range(1,uav_num+1):
|
||||
iris_name="iris_"+str(num)
|
||||
|
|
@ -94,7 +127,7 @@ with open('./launch/multi_uav.launch','w') as f:
|
|||
f.write('</launch>')
|
||||
print ".launch for 1.8 down"
|
||||
|
||||
|
||||
# 生成1.9版本的launch文件
|
||||
with open('./launch_1.9/multi_uav.launch','w') as f:
|
||||
f.write(launch_head_1_9)
|
||||
for num in range(1,uav_num):
|
||||
|
|
@ -128,6 +161,41 @@ with open('./launch_1.9/multi_uav.launch','w') as f:
|
|||
print ".launch for 1.9 down"
|
||||
|
||||
|
||||
# 生成1.9版本的launch文件
|
||||
vehicle_name = []
|
||||
with open('./launch_1.9/multi_uav.launch','w') as f:
|
||||
f.write(launch_head_1_11)
|
||||
for num in range(1,uav_num):
|
||||
mavlink_1=34570-1+num*2
|
||||
mavlink_2=mavlink_1+1
|
||||
onboard=14540+num
|
||||
SITL=24560+(num)*2
|
||||
TCP=4560+num
|
||||
for line in launch_lines_1_9:
|
||||
if "<!-- UAV" in line:
|
||||
f.write(" <!-- UAV%d-->\n" %num)
|
||||
elif "<group ns" in line:
|
||||
f.write(''' <group ns="%s_%d">\n''' %(vehicle_name[num],num))
|
||||
elif '''<arg name="ID" value="1"/>''' in line:
|
||||
f.write(''' <arg name="ID" value="%d"/>\n''' %num)
|
||||
elif "udp://:" in line:
|
||||
f.write(''' <arg name="fcu_url" default="udp://:%d@127.0.0.1:%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:
|
||||
f.write(''' <arg name="mavlink_tcp_port" value="%d"/>\n'''%TCP)
|
||||
elif '''name="x"''' in line:
|
||||
f.write(''' <arg name="x" value="0"/>\n''')
|
||||
elif '''name="y"''' in line:
|
||||
f.write(''' <arg name="y" value="%d"/>\n''' %( (2*(num%2)-1 )*(num) ) )
|
||||
else:
|
||||
f.write('%s' %line)
|
||||
f.write("\n")
|
||||
|
||||
f.write('</launch>')
|
||||
print ".launch for 1.9 down"
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,34 +0,0 @@
|
|||
<?xml version="1.0" ?>
|
||||
<launch>
|
||||
<arg name="paused" default="false"/>
|
||||
<arg name="use_sim_time" default="true"/>
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="headless" default="false"/>
|
||||
<arg name="debug" default="false"/>
|
||||
<arg name="verbose" default="false"/>
|
||||
<arg name="world_name" default="$(find velodyne_description)/world/example.world"/>
|
||||
|
||||
<!-- Start gazebo and load the world -->
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch" >
|
||||
<arg name="paused" value="$(arg paused)"/>
|
||||
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="headless" value="$(arg headless)"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
<arg name="verbose" value="$(arg verbose)"/>
|
||||
<arg name="world_name" value="$(arg world_name)"/>
|
||||
</include>
|
||||
|
||||
<!-- Spawn the example robot -->
|
||||
<arg name="gpu" default="false"/>
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find velodyne_description)/urdf/example.urdf.xacro' gpu:=$(arg gpu)" />
|
||||
<node pkg="gazebo_ros" type="spawn_model" name="spawn_model" args="-urdf -param /robot_description -model example"/>
|
||||
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
|
||||
<param name="publish_frequency" type="double" value="30.0" />
|
||||
</node>
|
||||
|
||||
<!-- RViz -->
|
||||
<arg name="rviz" default="true"/>
|
||||
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="$(anon rviz)" respawn="false" output="screen" args="-d $(find velodyne_description)/rviz/example.rviz" />
|
||||
|
||||
</launch>
|
||||
|
|
@ -1,66 +0,0 @@
|
|||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<world name="default">
|
||||
<!-- A global light source -->
|
||||
<include>
|
||||
<uri>model://sun</uri>
|
||||
</include>
|
||||
<!-- A ground plane -->
|
||||
<include>
|
||||
<uri>model://ground_plane</uri>
|
||||
</include>
|
||||
<!-- A unit box -->
|
||||
<model name='unit_box_0_0'>
|
||||
<pose frame=''>-1.5 2.5 0.5 0 -0 0</pose>
|
||||
<link name='link'>
|
||||
<inertial>
|
||||
<mass>1</mass>
|
||||
<inertia>
|
||||
<ixx>0.166667</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.166667</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.166667</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1 1 1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='visual'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1 1 1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/Grey</name>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<self_collide>0</self_collide>
|
||||
<kinematic>0</kinematic>
|
||||
<gravity>1</gravity>
|
||||
</link>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
|
|
@ -5,7 +5,7 @@
|
|||
<!-- vehicle model and world -->
|
||||
<arg name="est" default="ekf2"/>
|
||||
<arg name="vehicle" default="iris"/>
|
||||
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/outdoor2.world"/>
|
||||
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
|
||||
<!-- gazebo configs -->
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="debug" default="false"/>
|
||||
|
|
@ -19,16 +19,11 @@
|
|||
<arg name="verbose" value="$(arg verbose)"/>
|
||||
<arg name="paused" value="$(arg paused)"/>
|
||||
</include>
|
||||
<!--<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/xacro.rviz" required="true" />-->
|
||||
|
||||
|
||||
<!-- UAV1-->
|
||||
<group ns="uav1">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="1"/>
|
||||
<!--default="14540@localhost:14557"/>-->
|
||||
|
||||
<arg name="fcu_url" default="udp://:14540@127.0.0.1:34572"/>
|
||||
<!-- UAV0 -->
|
||||
<group ns="uav0">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="0"/>
|
||||
<arg name="fcu_url" default="udp://:14540@localhost:14580"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn.launch">
|
||||
<arg name="x" value="0"/>
|
||||
|
|
@ -38,19 +33,21 @@
|
|||
<arg name="P" value="0"/>
|
||||
<arg name="Y" value="0"/>
|
||||
<arg name="vehicle" value="$(arg vehicle)_arm"/>
|
||||
<arg name="rcS" value="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_1"/>
|
||||
<arg name="mavlink_udp_port" value="24560"/>
|
||||
<arg name="mavlink_udp_port" value="14560"/>
|
||||
<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="$(arg fcu_url)"/>
|
||||
<arg name="gcs_url" value=""/>
|
||||
<arg name="tgt_system" value="$(arg ID)"/>
|
||||
<arg name="tgt_system" value="$(eval 0 + arg('ID'))"/>
|
||||
<arg name="tgt_component" value="1"/>
|
||||
</include>
|
||||
</group>
|
||||
|
||||
|
||||
|
||||
</launch>
|
||||
<!-- to add more UAVs (up to 10):
|
||||
Increase the id
|
||||
Change the name space
|
||||
Set the FCU to default="udp://:14540+id@localhost:14550+id"
|
||||
Set the malink_udp_port to 14560+id) -->
|
||||
|
|
|
|||
|
|
@ -10,13 +10,15 @@
|
|||
<arg name="P" default="0"/>
|
||||
<arg name="Y" default="0"/>
|
||||
<!-- vehicle model and world -->
|
||||
<arg name="est" default="ekf2"/>
|
||||
<arg name="vehicle" default="iris"/>
|
||||
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/indoor2.world"/>
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/iris_stereo_camera/iris_stereo_camera.sdf"/>
|
||||
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/ekf2/iris_gps_mag_denied"/>
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models//iris_stereo_camera/iris_stereo_camera.sdf"/>
|
||||
|
||||
<!-- gazebo configs -->
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="debug" default="false"/>
|
||||
<arg name="verbose" default="true"/>
|
||||
<arg name="verbose" default="false"/>
|
||||
<arg name="paused" default="false"/>
|
||||
<arg name="respawn_gazebo" default="false"/>
|
||||
<!-- MAVROS configs -->
|
||||
|
|
@ -33,8 +35,8 @@
|
|||
<arg name="P" value="$(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="rcS" value="$(arg rcS)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="interactive" value="$(arg interactive)"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
|
|
@ -49,4 +51,4 @@
|
|||
<arg name="fcu_url" value="$(arg fcu_url)"/>
|
||||
<arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
|
||||
</include>
|
||||
</launch>
|
||||
</launch>
|
||||
|
|
@ -8,21 +8,19 @@
|
|||
<arg name="z" default="0"/>
|
||||
<arg name="R" default="0"/>
|
||||
<arg name="P" default="0"/>
|
||||
<arg name="Y" default="1.57"/>
|
||||
<arg name="Y" default="0"/>
|
||||
<!-- vehicle model and world -->
|
||||
<arg name="est" default="ekf2"/>
|
||||
<arg name="vehicle" default="iris"/>
|
||||
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/indoor3.world"/>
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/iris_2d_lidar/iris_2d_lidar.sdf"/>
|
||||
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/ekf2/iris_gps_mag_denied"/>
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models//iris_2d_lidar/iris_2d_lidar.sdf"/>
|
||||
|
||||
<!-- gazebo configs -->
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="debug" default="false"/>
|
||||
<arg name="verbose" default="true"/>
|
||||
<arg name="verbose" default="false"/>
|
||||
<arg name="paused" default="false"/>
|
||||
<arg name="respawn_gazebo" default="false"/>
|
||||
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser"
|
||||
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser 40" />
|
||||
<node pkg="tf" type="static_transform_publisher" name="map_to_odom"
|
||||
args="0.0 0.0 0.0 0.0 0.0 0.0 /map /odom 40" />
|
||||
<!-- MAVROS configs -->
|
||||
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
|
||||
<arg name="respawn_mavros" default="false"/>
|
||||
|
|
@ -37,8 +35,8 @@
|
|||
<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="$(arg sdf)"/>
|
||||
<arg name="rcS" value="$(arg rcS)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="interactive" value="$(arg interactive)"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
|
|
@ -53,4 +51,4 @@
|
|||
<arg name="fcu_url" value="$(arg fcu_url)"/>
|
||||
<arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
|
||||
</include>
|
||||
</launch>
|
||||
</launch>
|
||||
|
|
@ -8,21 +8,19 @@
|
|||
<arg name="z" default="0"/>
|
||||
<arg name="R" default="0"/>
|
||||
<arg name="P" default="0"/>
|
||||
<arg name="Y" default="1.57"/>
|
||||
<arg name="Y" default="0"/>
|
||||
<!-- vehicle model and world -->
|
||||
<arg name="est" default="ekf2"/>
|
||||
<arg name="vehicle" default="iris"/>
|
||||
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/indoor3.world"/>
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/iris_3d_lidar/iris_3d_lidar.sdf"/>
|
||||
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/ekf2/iris_gps_mag_denied"/>
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/iris_3d_gpu_lidar/iris_3d_gpu_lidar.sdf"/>
|
||||
|
||||
<!-- gazebo configs -->
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="debug" default="false"/>
|
||||
<arg name="verbose" default="true"/>
|
||||
<arg name="verbose" default="false"/>
|
||||
<arg name="paused" default="false"/>
|
||||
<arg name="respawn_gazebo" default="false"/>
|
||||
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser"
|
||||
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser 40" />
|
||||
<node pkg="tf" type="static_transform_publisher" name="map_to_odom"
|
||||
args="0.0 0.0 0.0 0.0 0.0 0.0 /map /odom 40" />
|
||||
<!-- MAVROS configs -->
|
||||
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
|
||||
<arg name="respawn_mavros" default="false"/>
|
||||
|
|
@ -37,8 +35,8 @@
|
|||
<arg name="P" value="$(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="rcS" value="$(arg rcS)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="interactive" value="$(arg interactive)"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
|
|
|
|||
|
|
@ -10,19 +10,17 @@
|
|||
<arg name="P" default="0"/>
|
||||
<arg name="Y" default="0"/>
|
||||
<!-- vehicle model and world -->
|
||||
<arg name="est" default="ekf2"/>
|
||||
<arg name="vehicle" default="iris"/>
|
||||
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/indoor4.world"/>
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/iris_2d_lidar/iris_2d_lidar.sdf"/>
|
||||
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/ekf2/iris_gps_mag_denied"/>
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models//iris_2d_lidar/iris_2d_lidar.sdf"/>
|
||||
|
||||
<!-- gazebo configs -->
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="debug" default="false"/>
|
||||
<arg name="verbose" default="true"/>
|
||||
<arg name="verbose" default="false"/>
|
||||
<arg name="paused" default="false"/>
|
||||
<arg name="respawn_gazebo" default="false"/>
|
||||
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser"
|
||||
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser 40" />
|
||||
<node pkg="tf" type="static_transform_publisher" name="map_to_odom"
|
||||
args="0.0 0.0 0.0 0.0 0.0 0.0 /map /odom 40" />
|
||||
<!-- MAVROS configs -->
|
||||
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
|
||||
<arg name="respawn_mavros" default="false"/>
|
||||
|
|
@ -37,8 +35,8 @@
|
|||
<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="$(arg sdf)"/>
|
||||
<arg name="rcS" value="$(arg rcS)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="interactive" value="$(arg interactive)"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
|
|
@ -53,4 +51,4 @@
|
|||
<arg name="fcu_url" value="$(arg fcu_url)"/>
|
||||
<arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
|
||||
</include>
|
||||
</launch>
|
||||
</launch>
|
||||
|
|
@ -10,19 +10,17 @@
|
|||
<arg name="P" default="0"/>
|
||||
<arg name="Y" default="0"/>
|
||||
<!-- vehicle model and world -->
|
||||
<arg name="est" default="ekf2"/>
|
||||
<arg name="vehicle" default="iris"/>
|
||||
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/indoor4.world"/>
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/iris_3d_gpu_lidar/iris_3d_gpu_lidar.sdf"/>
|
||||
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/ekf2/iris_gps_mag_denied"/>
|
||||
|
||||
<!-- gazebo configs -->
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="debug" default="false"/>
|
||||
<arg name="verbose" default="true"/>
|
||||
<arg name="verbose" default="false"/>
|
||||
<arg name="paused" default="false"/>
|
||||
<arg name="respawn_gazebo" default="false"/>
|
||||
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser"
|
||||
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser 40" />
|
||||
<node pkg="tf" type="static_transform_publisher" name="map_to_odom"
|
||||
args="0.0 0.0 0.0 0.0 0.0 0.0 /map /odom 40" />
|
||||
<!-- MAVROS configs -->
|
||||
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
|
||||
<arg name="respawn_mavros" default="false"/>
|
||||
|
|
@ -37,8 +35,8 @@
|
|||
<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="$(arg sdf)"/>
|
||||
<arg name="rcS" value="$(arg rcS)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="interactive" value="$(arg interactive)"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
|
|
|
|||
|
|
@ -10,13 +10,15 @@
|
|||
<arg name="P" default="0"/>
|
||||
<arg name="Y" default="0"/>
|
||||
<!-- vehicle model and world -->
|
||||
<arg name="est" default="ekf2"/>
|
||||
<arg name="vehicle" default="iris"/>
|
||||
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/outdoor1.world"/>
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/iris_stereo_camera/iris_stereo_camera.sdf"/>
|
||||
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/ekf2/iris_gps_mag_available"/>
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models//iris_stereo_camera/iris_stereo_camera.sdf"/>
|
||||
|
||||
<!-- gazebo configs -->
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="debug" default="false"/>
|
||||
<arg name="verbose" default="true"/>
|
||||
<arg name="verbose" default="false"/>
|
||||
<arg name="paused" default="false"/>
|
||||
<arg name="respawn_gazebo" default="false"/>
|
||||
<!-- MAVROS configs -->
|
||||
|
|
@ -33,8 +35,8 @@
|
|||
<arg name="P" value="$(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="rcS" value="$(arg rcS)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="interactive" value="$(arg interactive)"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
|
|
@ -49,4 +51,4 @@
|
|||
<arg name="fcu_url" value="$(arg fcu_url)"/>
|
||||
<arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
|
||||
</include>
|
||||
</launch>
|
||||
</launch>
|
||||
|
|
@ -1,33 +0,0 @@
|
|||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
<!-- Posix SITL environment launch script -->
|
||||
<!-- launchs 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"/>
|
||||
<!-- vehcile model and config -->
|
||||
<arg name="est" default="ekf2"/>
|
||||
<arg name="vehicle" default="iris"/>
|
||||
<arg name="ID" default="1"/>
|
||||
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>
|
||||
<arg name="mavlink_udp_port" default="14560"/>
|
||||
<!-- generate urdf vehicle model -->
|
||||
<arg name="cmd" default="$(find xacro)/xacro $(find px4)/Tools/sitl_gazebo/models/rotors_description/urdf/$(arg vehicle)_base.xacro rotors_description_dir:=$(find px4)/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(arg mavlink_udp_port) --inorder"/>
|
||||
<param command="$(arg cmd)" name="rotors_description"/>
|
||||
<!--<param name="robot_description" command="$(arg cmd)"/> -->
|
||||
|
||||
<!--<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
|
||||
</node>
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" /> -->
|
||||
|
||||
|
||||
<!-- PX4 SITL -->
|
||||
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4) $(arg rcS)">
|
||||
</node>
|
||||
<!-- spawn vehicle -->
|
||||
<node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-urdf -param rotors_description -model $(arg vehicle)_$(arg ID) -package_to_model -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,33 @@
|
|||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
<!-- Posix SITL environment launch script -->
|
||||
<!-- launchs PX4 SITL and spawns vehicle -->
|
||||
<!-- vehicle pose -->
|
||||
<arg name="x" default="0"/>
|
||||
<arg name="y" default="0"/>
|
||||
<arg name="z" default="0"/>
|
||||
<arg name="R" default="0"/>
|
||||
<arg name="P" default="0"/>
|
||||
<arg name="Y" default="0"/>
|
||||
<!-- vehcile model and config -->
|
||||
<arg name="sdf" default="plane"/>
|
||||
<arg name="est" default="ekf2"/>
|
||||
<arg name="vehicle" default="plane"/>
|
||||
<arg name="ID" default="1"/>
|
||||
<env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
|
||||
<env name="PX4_ESTIMATOR" value="$(arg est)" />
|
||||
<arg name="mavlink_udp_port" default="14560"/>
|
||||
<arg name="mavlink_tcp_port" default="4560"/>
|
||||
<!-- PX4 configs -->
|
||||
<arg name="interactive" default="true"/>
|
||||
<!-- generate sdf vehicle model -->
|
||||
<arg name="cmd" default="xmlstarlet ed -d '//plugin[@name="mavlink_interface"]/mavlink_tcp_port' -s '//plugin[@name="mavlink_interface"]' -t elem -n mavlink_tcp_port -v $(arg mavlink_tcp_port) $(find px4)/Tools/sitl_gazebo/models/$(arg sdf)/$(arg sdf).sdf"/>
|
||||
<param command="$(arg cmd)" name="model_description"/>
|
||||
<!-- PX4 SITL -->
|
||||
<arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
|
||||
<arg if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
|
||||
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
|
||||
</node>
|
||||
<!-- spawn vehicle -->
|
||||
<node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-sdf -param model_description -model $(arg vehicle)_$(arg ID) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
|
||||
</launch>
|
||||
|
|
@ -5,7 +5,7 @@
|
|||
<!-- vehicle model and world -->
|
||||
<arg name="est" default="ekf2"/>
|
||||
<arg name="vehicle" default="iris"/>
|
||||
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
|
||||
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/outdoor2.world"/>
|
||||
<!-- gazebo configs -->
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="debug" default="false"/>
|
||||
|
|
@ -19,11 +19,16 @@
|
|||
<arg name="verbose" value="$(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"/>
|
||||
<!--<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/xacro.rviz" required="true" />-->
|
||||
|
||||
|
||||
<!-- UAV1-->
|
||||
<group ns="uav1">
|
||||
<!-- MAVROS and vehicle configs -->
|
||||
<arg name="ID" value="1"/>
|
||||
<!--default="14540@localhost:14557"/>-->
|
||||
|
||||
<arg name="fcu_url" default="udp://:14540@127.0.0.1:34572"/>
|
||||
<!-- PX4 SITL and vehicle spawn -->
|
||||
<include file="$(find px4)/launch/single_vehicle_spawn.launch">
|
||||
<arg name="x" value="0"/>
|
||||
|
|
@ -33,21 +38,19 @@
|
|||
<arg name="P" value="0"/>
|
||||
<arg name="Y" value="0"/>
|
||||
<arg name="vehicle" value="$(arg vehicle)_arm"/>
|
||||
<arg name="mavlink_udp_port" value="14560"/>
|
||||
<arg name="mavlink_tcp_port" value="4560"/>
|
||||
<arg name="rcS" value="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_1"/>
|
||||
<arg name="mavlink_udp_port" value="24560"/>
|
||||
<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 0 + arg('ID'))"/>
|
||||
<arg name="tgt_system" value="$(arg ID)"/>
|
||||
<arg name="tgt_component" value="1"/>
|
||||
</include>
|
||||
</group>
|
||||
|
||||
|
||||
|
||||
</launch>
|
||||
<!-- to add more UAVs (up to 10):
|
||||
Increase the id
|
||||
Change the name space
|
||||
Set the FCU to default="udp://:14540+id@localhost:14550+id"
|
||||
Set the malink_udp_port to 14560+id) -->
|
||||
|
|
@ -10,15 +10,13 @@
|
|||
<arg name="P" default="0"/>
|
||||
<arg name="Y" default="0"/>
|
||||
<!-- vehicle model and world -->
|
||||
<arg name="est" default="ekf2"/>
|
||||
<arg name="vehicle" default="iris"/>
|
||||
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/indoor2.world"/>
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models//iris_stereo_camera/iris_stereo_camera.sdf"/>
|
||||
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/iris_stereo_camera/iris_stereo_camera.sdf"/>
|
||||
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/ekf2/iris_gps_mag_denied"/>
|
||||
<!-- gazebo configs -->
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="debug" default="false"/>
|
||||
<arg name="verbose" default="false"/>
|
||||
<arg name="verbose" default="true"/>
|
||||
<arg name="paused" default="false"/>
|
||||
<arg name="respawn_gazebo" default="false"/>
|
||||
<!-- MAVROS configs -->
|
||||
|
|
@ -35,8 +33,8 @@
|
|||
<arg name="P" value="$(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="rcS" value="$(arg rcS)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="interactive" value="$(arg interactive)"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
|
|
@ -51,4 +49,4 @@
|
|||
<arg name="fcu_url" value="$(arg fcu_url)"/>
|
||||
<arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
|
||||
</include>
|
||||
</launch>
|
||||
</launch>
|
||||
|
|
@ -8,19 +8,21 @@
|
|||
<arg name="z" default="0"/>
|
||||
<arg name="R" default="0"/>
|
||||
<arg name="P" default="0"/>
|
||||
<arg name="Y" default="0"/>
|
||||
<arg name="Y" default="1.57"/>
|
||||
<!-- vehicle model and world -->
|
||||
<arg name="est" default="ekf2"/>
|
||||
<arg name="vehicle" default="iris"/>
|
||||
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/indoor3.world"/>
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models//iris_2d_lidar/iris_2d_lidar.sdf"/>
|
||||
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/iris_2d_lidar/iris_2d_lidar.sdf"/>
|
||||
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/ekf2/iris_gps_mag_denied"/>
|
||||
<!-- gazebo configs -->
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="debug" default="false"/>
|
||||
<arg name="verbose" default="false"/>
|
||||
<arg name="verbose" default="true"/>
|
||||
<arg name="paused" default="false"/>
|
||||
<arg name="respawn_gazebo" default="false"/>
|
||||
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser"
|
||||
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser 40" />
|
||||
<node pkg="tf" type="static_transform_publisher" name="map_to_odom"
|
||||
args="0.0 0.0 0.0 0.0 0.0 0.0 /map /odom 40" />
|
||||
<!-- MAVROS configs -->
|
||||
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
|
||||
<arg name="respawn_mavros" default="false"/>
|
||||
|
|
@ -35,8 +37,8 @@
|
|||
<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="$(arg sdf)"/>
|
||||
<arg name="rcS" value="$(arg rcS)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="interactive" value="$(arg interactive)"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
|
|
@ -51,4 +53,4 @@
|
|||
<arg name="fcu_url" value="$(arg fcu_url)"/>
|
||||
<arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
|
||||
</include>
|
||||
</launch>
|
||||
</launch>
|
||||
|
|
@ -8,19 +8,21 @@
|
|||
<arg name="z" default="0"/>
|
||||
<arg name="R" default="0"/>
|
||||
<arg name="P" default="0"/>
|
||||
<arg name="Y" default="0"/>
|
||||
<arg name="Y" default="1.57"/>
|
||||
<!-- vehicle model and world -->
|
||||
<arg name="est" default="ekf2"/>
|
||||
<arg name="vehicle" default="iris"/>
|
||||
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/indoor3.world"/>
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/iris_3d_gpu_lidar/iris_3d_gpu_lidar.sdf"/>
|
||||
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/iris_3d_lidar/iris_3d_lidar.sdf"/>
|
||||
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/ekf2/iris_gps_mag_denied"/>
|
||||
<!-- gazebo configs -->
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="debug" default="false"/>
|
||||
<arg name="verbose" default="false"/>
|
||||
<arg name="verbose" default="true"/>
|
||||
<arg name="paused" default="false"/>
|
||||
<arg name="respawn_gazebo" default="false"/>
|
||||
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser"
|
||||
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser 40" />
|
||||
<node pkg="tf" type="static_transform_publisher" name="map_to_odom"
|
||||
args="0.0 0.0 0.0 0.0 0.0 0.0 /map /odom 40" />
|
||||
<!-- MAVROS configs -->
|
||||
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
|
||||
<arg name="respawn_mavros" default="false"/>
|
||||
|
|
@ -35,8 +37,8 @@
|
|||
<arg name="P" value="$(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="rcS" value="$(arg rcS)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="interactive" value="$(arg interactive)"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
|
|
@ -10,17 +10,19 @@
|
|||
<arg name="P" default="0"/>
|
||||
<arg name="Y" default="0"/>
|
||||
<!-- vehicle model and world -->
|
||||
<arg name="est" default="ekf2"/>
|
||||
<arg name="vehicle" default="iris"/>
|
||||
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/indoor4.world"/>
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models//iris_2d_lidar/iris_2d_lidar.sdf"/>
|
||||
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/iris_2d_lidar/iris_2d_lidar.sdf"/>
|
||||
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/ekf2/iris_gps_mag_denied"/>
|
||||
<!-- gazebo configs -->
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="debug" default="false"/>
|
||||
<arg name="verbose" default="false"/>
|
||||
<arg name="verbose" default="true"/>
|
||||
<arg name="paused" default="false"/>
|
||||
<arg name="respawn_gazebo" default="false"/>
|
||||
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser"
|
||||
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser 40" />
|
||||
<node pkg="tf" type="static_transform_publisher" name="map_to_odom"
|
||||
args="0.0 0.0 0.0 0.0 0.0 0.0 /map /odom 40" />
|
||||
<!-- MAVROS configs -->
|
||||
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
|
||||
<arg name="respawn_mavros" default="false"/>
|
||||
|
|
@ -35,8 +37,8 @@
|
|||
<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="$(arg sdf)"/>
|
||||
<arg name="rcS" value="$(arg rcS)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="interactive" value="$(arg interactive)"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
|
|
@ -51,4 +53,4 @@
|
|||
<arg name="fcu_url" value="$(arg fcu_url)"/>
|
||||
<arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
|
||||
</include>
|
||||
</launch>
|
||||
</launch>
|
||||
|
|
@ -10,17 +10,19 @@
|
|||
<arg name="P" default="0"/>
|
||||
<arg name="Y" default="0"/>
|
||||
<!-- vehicle model and world -->
|
||||
<arg name="est" default="ekf2"/>
|
||||
<arg name="vehicle" default="iris"/>
|
||||
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/indoor4.world"/>
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/iris_3d_gpu_lidar/iris_3d_gpu_lidar.sdf"/>
|
||||
|
||||
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/ekf2/iris_gps_mag_denied"/>
|
||||
<!-- gazebo configs -->
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="debug" default="false"/>
|
||||
<arg name="verbose" default="false"/>
|
||||
<arg name="verbose" default="true"/>
|
||||
<arg name="paused" default="false"/>
|
||||
<arg name="respawn_gazebo" default="false"/>
|
||||
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser"
|
||||
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser 40" />
|
||||
<node pkg="tf" type="static_transform_publisher" name="map_to_odom"
|
||||
args="0.0 0.0 0.0 0.0 0.0 0.0 /map /odom 40" />
|
||||
<!-- MAVROS configs -->
|
||||
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
|
||||
<arg name="respawn_mavros" default="false"/>
|
||||
|
|
@ -35,8 +37,8 @@
|
|||
<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="$(arg sdf)"/>
|
||||
<arg name="rcS" value="$(arg rcS)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="interactive" value="$(arg interactive)"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
|
|
@ -10,15 +10,13 @@
|
|||
<arg name="P" default="0"/>
|
||||
<arg name="Y" default="0"/>
|
||||
<!-- vehicle model and world -->
|
||||
<arg name="est" default="ekf2"/>
|
||||
<arg name="vehicle" default="iris"/>
|
||||
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/outdoor1.world"/>
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models//iris_stereo_camera/iris_stereo_camera.sdf"/>
|
||||
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/iris_stereo_camera/iris_stereo_camera.sdf"/>
|
||||
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/ekf2/iris_gps_mag_available"/>
|
||||
<!-- gazebo configs -->
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="debug" default="false"/>
|
||||
<arg name="verbose" default="false"/>
|
||||
<arg name="verbose" default="true"/>
|
||||
<arg name="paused" default="false"/>
|
||||
<arg name="respawn_gazebo" default="false"/>
|
||||
<!-- MAVROS configs -->
|
||||
|
|
@ -35,8 +33,8 @@
|
|||
<arg name="P" value="$(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="rcS" value="$(arg rcS)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="interactive" value="$(arg interactive)"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
|
|
@ -51,4 +49,4 @@
|
|||
<arg name="fcu_url" value="$(arg fcu_url)"/>
|
||||
<arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
|
||||
</include>
|
||||
</launch>
|
||||
</launch>
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
|
|
@ -42,14 +42,14 @@
|
|||
<size>5000 5000</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<surface>
|
||||
sss
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100</mu>
|
||||
<mu2>50</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
sss
|
||||
</collision>
|
||||
|
||||
<visual name="runway">
|
||||
|
|
|
|||
Loading…
Reference in New Issue