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SITL: Multi-vehicle sim with AirSim + ROS #12930

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merged 2 commits into from Dec 5, 2019
Merged

SITL: Multi-vehicle sim with AirSim + ROS #12930

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69e2741
SITL: Example script for ROS multi-vehicle with Airsim
rajat2004 Nov 27, 2019
b12968c
SITL: Test launch file for ROS multi-vehicle sim
rajat2004 Nov 27, 2019
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33 changes: 33 additions & 0 deletions libraries/SITL/examples/Airsim/multi_uav_ros_sitl.launch
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<?xml version="1.0"?>
<launch>
<!-- UAV0 -->
<group ns="uav0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="1"/>
<arg name="fcu_url" default="udp://:14550@localhost:14555"/>
<!-- MAVROS -->
<include file="$(find mavros)/launch/apm.launch">
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="gcs_url" value=""/>
<arg name="tgt_system" value="$(arg ID)"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- UAV1 -->
<group ns="uav1">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="2"/>
<arg name="fcu_url" default="udp://:14560@localhost:14565"/>
<!-- MAVROS -->
<include file="$(find mavros)/launch/apm.launch">
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="gcs_url" value=""/>
<arg name="tgt_system" value="$(arg ID)"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
</launch>
<!-- to add more UAVs:
Increase the id
Change the name space
Set the FCU to default="udp://:14540+id*10@localhost:14545+id*10" -->
57 changes: 57 additions & 0 deletions libraries/SITL/examples/Airsim/multi_vehicle.sh
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#!/bin/bash

# Example script for multi-vehicle simulation with AirSim and usage with ROS
# see http://ardupilot.org/dev/docs/sitl-with-airsim.html#multi-vehicle-simulation for details

# Usage - From ardupilot root directory, run - libraries/SITL/examples/Airsim/multi_vehicle.sh $GCS_IP
# $GCS_IP is the IP address of the system running the GCS, by default is 127.0.0.1

# Kill all SITL binaries when exiting
trap "killall -9 arducopter" SIGINT SIGTERM EXIT

# assume we start the script from the root directory
ROOTDIR=$PWD
COPTER=$ROOTDIR/build/sitl/bin/arducopter

# Set GCS_IP address
if [ -z $1 ]; then
GCS_IP="127.0.0.1"
else
GCS_IP=$1
fi


BASE_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/copter.parm,$ROOTDIR/libraries/SITL/examples/Airsim/quadX.parm"

[ -x "$COPTER" ] || {
./waf configure --board sitl
./waf copter
}

# start up main copter in the current directory
$COPTER --model airsim-copter --uartA udpclient:$GCS_IP:14550 --uartB tcp:0 --defaults $BASE_DEFAULTS &

# Set number of "extra" copters to be simulated, change this for increasing the count
NCOPTERS="1"


# now start another copter, using
# a separate directory to keep the eeprom.bin and logs separate
for i in $(seq $NCOPTERS); do
echo "Starting copter $i"
mkdir -p copter$i

SYSID=$(expr $i + 1)
UDP_PORT=$((14550 + $i * 10))

# create seperate parameter file for each drone for SYSID
cat <<EOF > copter$i/identity.parm
SYSID_THISMAV $SYSID
EOF

pushd copter$i
$COPTER --model airsim-copter --uartA udpclient:$GCS_IP:$UDP_PORT --uartB tcp:$i \
--instance $i --defaults $BASE_DEFAULTS,identity.parm &
popd
done
wait