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launch: multiple sdf models #12306

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Jun 26, 2019
Merged

launch: multiple sdf models #12306

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105 changes: 105 additions & 0 deletions launch/multi_uav_mavros_sitl_sdf.launch
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<?xml version="1.0"?>
<launch>
<!-- MAVROS posix SITL environment launch script -->
<!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
<!-- vehicle model and world -->
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="plane"/>
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
<!-- gazebo configs -->
<arg name="gui" default="true"/>
<arg name="debug" default="false"/>
<arg name="verbose" default="false"/>
<arg name="paused" default="false"/>
<!-- Gazebo sim -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="gui" value="$(arg gui)"/>
<arg name="world_name" value="$(arg world)"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="verbose" value="$(arg verbose)"/>
<arg name="paused" value="$(arg paused)"/>
</include>
<!-- UAV0 -->
<group ns="uav0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="0"/>
<arg name="fcu_url" default="udp://:14540@localhost:14580"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
<arg name="x" value="0"/>
<arg name="y" value="0"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="mavlink_udp_port" value="14560"/>
<arg name="mavlink_tcp_port" value="4560"/>
<arg name="ID" value="$(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="$(eval 0 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- UAV1 -->
<group ns="uav1">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="1"/>
<arg name="fcu_url" default="udp://:14541@localhost:14581"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
<arg name="x" value="1"/>
<arg name="y" value="0"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="mavlink_udp_port" value="14561"/>
<arg name="mavlink_tcp_port" value="4561"/>
<arg name="ID" value="$(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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- UAV2 -->
<group ns="uav2">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="2"/>
<arg name="fcu_url" default="udp://:14542@localhost:14582"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
<arg name="x" value="0"/>
<arg name="y" value="1"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="mavlink_udp_port" value="14562"/>
<arg name="mavlink_tcp_port" value="4562"/>
<arg name="ID" value="$(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="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
</launch>
<!-- to add more UAVs (up to 10):
Increase the id
Change the name space
Set the FCU to default="udp://:14540+id@localhost:14550+id"
Set the malink_udp_port to 14560+id) -->
32 changes: 32 additions & 0 deletions launch/single_vehicle_spawn_sdf.launch
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<?xml version="1.0"?>
<launch>
<!-- Posix SITL environment launch script -->
<!-- launchs PX4 SITL and spawns vehicle -->
<!-- vehicle pose -->
<arg name="x" default="0"/>
<arg name="y" default="0"/>
<arg name="z" default="0"/>
<arg name="R" default="0"/>
<arg name="P" default="0"/>
<arg name="Y" default="0"/>
<!-- vehcile model and config -->
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="plane"/>
<arg name="ID" default="1"/>
<env name="PX4_SIM_MODEL" value="$(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=&quot;mavlink_interface&quot;]/mavlink_tcp_port' -s '//plugin[@name=&quot;mavlink_interface&quot;]' -t elem -n mavlink_tcp_port -v $(arg mavlink_tcp_port) $(find px4)/Tools/sitl_gazebo/models/$(arg vehicle)/$(arg vehicle).sdf"/>
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This is where the magic happens.

<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) $(arg px4_command_arg1)">
</node>
<!-- spawn vehicle -->
<node name="$(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>