Simplified ArduPilot SITL launcher for multi-drone simulations. Runs multiple ArduPilot SITL instances in parallel, managed by a central process supervisor that merges the standard output streams of individual processes and configures the SITL instances to start the drones from a grid-like formation.
We use uv to manage a Python virtual environment that will contain all
the dependencies. Install uv first if you don't have it yet, then follow
these steps:
-
Clone this repository.
-
Run
uv syncto create a virtualenv and install all the dependencies in it. -
Run
uv run ap-sitl-swarm SITL_PATHto launch a single SITL instance with a pre-compiled SITL executable at${SITL_PATH}. Use the-hswitch for more options.
Tested on Linux and macOS. May or may not work on Windows.
Copyright 2022-2024 CollMot Robotics Ltd.
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