Merge pull request #1835 from vacabun/multi_uas_launch_fix

Multi-UAS launch
mavlink · Mar 2, 2023 · 7228a31 · 7228a31
2 parents 8729502 + 9d738bc
commit 7228a31
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Showing 4 changed files with 29 additions and 7 deletions.
diff --git a/mavros/launch/apm.launch b/mavros/launch/apm.launch
@@ -9,16 +9,16 @@
 	<arg name="log_output" default="screen" />
 	<arg name="fcu_protocol" default="v2.0" />
 	<arg name="respawn_mavros" default="false" />
-
+	<arg name="namespace" default="mavros"/>
 	<include file="$(find-pkg-share mavros)/launch/node.launch">
 		<arg name="pluginlists_yaml" value="$(find-pkg-share mavros)/launch/apm_pluginlists.yaml" />
 		<arg name="config_yaml" value="$(find-pkg-share mavros)/launch/apm_config.yaml" />
-
 		<arg name="fcu_url" value="$(var fcu_url)" />
 		<arg name="gcs_url" value="$(var gcs_url)" />
 		<arg name="tgt_system" value="$(var tgt_system)" />
 		<arg name="tgt_component" value="$(var tgt_component)" />
 		<arg name="fcu_protocol" value="$(var fcu_protocol)" />
 		<arg name="respawn_mavros" value="$(var respawn_mavros)" />
+		<arg name="namespace" value="$(var namespace)"/>
 	</include>
 </launch>
diff --git a/mavros/launch/multi_uas.launch b/mavros/launch/multi_uas.launch
@@ -0,0 +1,21 @@
+<launch>
+    <!-- px4_0 -->
+    <group>
+        <arg name="id" default="0" />
+        <arg name="fcu_url" default="udp://:14540@127.0.0.1:14580" />
+        <include file="$(find-pkg-share mavros)/launch/px4.launch">
+            <arg name="tgt_system" value="$(eval '1 + int(\'$(var id)\') ')" />
+            <arg name="namespace" value="$(eval ' \'mavros/uas_\' + \'$(var tgt_system)\' ')" />
+        </include>
+    </group>
+    <!-- px4_1 -->
+    <group>
+        <arg name="id" default="1" />
+        <arg name="fcu_url" default="udp://:14541@127.0.0.1:14581" />
+        <include file="$(find-pkg-share mavros)/launch/px4.launch">
+            <arg name="tgt_system" value="$(eval '1 + int(\'$(var id)\') ')" />
+            <arg name="namespace" value="$(eval ' \'mavros/uas_\' + \'$(var tgt_system)\' ')" />
+        </include>
+    </group>
+</launch>
+
diff --git a/mavros/launch/node.launch b/mavros/launch/node.launch
@@ -11,14 +11,14 @@
 	<arg name="log_output" default="screen" />
 	<arg name="fcu_protocol" default="v2.0" />
 	<arg name="respawn_mavros" default="false" />
+	<arg name="namespace" default="mavros"/>
 
-	<node pkg="mavros" exec="mavros_node" namespace="mavros" output="screen">
+	<node pkg="mavros" exec="mavros_node" namespace="$(var namespace)" output="screen">
 		<param name="fcu_url" value="$(var fcu_url)" />
 		<param name="gcs_url" value="$(var gcs_url)" />
-		<param name="target_system_id" value="$(var tgt_system)" />
-		<param name="target_component_id" value="$(var tgt_component)" />
+		<param name="tgt_system" value="$(var tgt_system)" />
+		<param name="tgt_component" value="$(var tgt_component)" />
 		<param name="fcu_protocol" value="$(var fcu_protocol)" />
-
 		<!-- load blacklist, config -->
 		<param from="$(var pluginlists_yaml)" />
 		<param from="$(var config_yaml)" />

diff --git a/mavros/launch/px4.launch b/mavros/launch/px4.launch
@@ -6,17 +6,18 @@
 	<arg name="log_output" default="screen" />
 	<arg name="fcu_protocol" default="v2.0" />
 	<arg name="respawn_mavros" default="false" />
+	<arg name="namespace" default="mavros"/>
 
 	<include file="$(find-pkg-share mavros)/launch/node.launch">
 		<arg name="pluginlists_yaml" value="$(find-pkg-share mavros)/launch/px4_pluginlists.yaml" />
 		<arg name="config_yaml" value="$(find-pkg-share mavros)/launch/px4_config.yaml" />
-
 		<arg name="fcu_url" value="$(var fcu_url)" />
 		<arg name="gcs_url" value="$(var gcs_url)" />
 		<arg name="tgt_system" value="$(var tgt_system)" />
 		<arg name="tgt_component" value="$(var tgt_component)" />
 		<arg name="log_output" value="$(var log_output)" />
 		<arg name="fcu_protocol" value="$(var fcu_protocol)" />
 		<arg name="respawn_mavros" value="$(var respawn_mavros)" />
+		<arg name="namespace" value="$(var namespace)"/>
 	</include>
 </launch>