Multiple instances of UAV are not working as default configurations

[t2kien]

I have implemented running multiple UAVs using this project with namespaces defined as drone0, drone1, and drone2 as described in sitl_config/world.yaml. After following the step-by-step instructions in the tutorial:

1-  MicroXRCEAgent udp4 -p 8888
2 - ./launch_sitl.bash
3- ./launch_as2.bash -n drone0
4- ./launch_as2.bash -n drone1
5- ./launch_as2.bash -n drone2

When I run the mission for drone0 using python3 mission.py -n drone0, all commands run successfully. However, when running the mission for drone1 or drone2 using python3 mission.py -n drone1 or python3 mission.py -n drone2, they hang on “Taking off.” (With verbose mode enabled, the output shows no changes in the drones’ altitude.)

After investigating, if I modify the instance of namespace drone0 to 2, and drone1 and drone2 to 0 and 1 respectively in the world.yaml file, and then rerun the above steps, they work as expected.

[pariaspe]

Hi @t2kien , would you open a PR to better understand your fix?

[t2kien]

Hi @pariaspe, thank you for the quick reply. I think this is an issue when running multiple drones with as2_platform_pixhawk. I tried to debug the code, but had no luck. The workaround I mentioned above is just a temporary fix, and I hope we can investigate the real cause. My guess is that the issue might be related to the instance ID or the order in which the drones are initialized.