From 7f2446887a5cd7da9cc2f37bcbfded693dffbf91 Mon Sep 17 00:00:00 2001
From: vacabun <maguotong66@gmail.com>
Date: Tue, 28 Feb 2023 19:59:23 +0800
Subject: [PATCH 1/2] fix parameters name tgt_system and tgt_component and add
 multi-uas launch.

---
 mavros/launch/apm.launch       |  4 ++--
 mavros/launch/multi_uas.launch | 21 +++++++++++++++++++++
 mavros/launch/node.launch      | 12 ++++++------
 mavros/launch/px4.launch       |  3 ++-
 4 files changed, 31 insertions(+), 9 deletions(-)
 create mode 100644 mavros/launch/multi_uas.launch

diff --git a/mavros/launch/apm.launch b/mavros/launch/apm.launch
index 629080f5a..541599d50 100644
--- a/mavros/launch/apm.launch
+++ b/mavros/launch/apm.launch
@@ -9,11 +9,10 @@
 	<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)" />
@@ -21,5 +20,6 @@
 		<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>
diff --git a/mavros/launch/multi_uas.launch b/mavros/launch/multi_uas.launch
new file mode 100644
index 000000000..73c820cc6
--- /dev/null
+++ 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>
+    
\ No newline at end of file
diff --git a/mavros/launch/node.launch b/mavros/launch/node.launch
index e65cbe917..5939db427 100644
--- a/mavros/launch/node.launch
+++ b/mavros/launch/node.launch
@@ -10,15 +10,15 @@
 	<arg name="config_yaml" />
 	<arg name="log_output" default="screen" />
 	<arg name="fcu_protocol" default="v2.0" />
-	<arg name="respawn_mavros" default="false" />
-
-	<node pkg="mavros" exec="mavros_node" namespace="mavros" output="$(var log_output)">
+	<arg name="respawn_mavros" default="false" />      
+	<arg name="namespace" default="mavros"/>
+	<node pkg="mavros" exec="mavros_node" namespace="$(var namespace)" output="$(var log_output)">
 		<param name="fcu_url" value="$(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)" />
 		<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
index e189d9f30..860ad2903 100644
--- a/mavros/launch/px4.launch
+++ b/mavros/launch/px4.launch
@@ -6,11 +6,11 @@
 	<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)" />
@@ -18,5 +18,6 @@
 		<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>

From b11650871b91b13eba7d60b0bcd131c09f81a654 Mon Sep 17 00:00:00 2001
From: vacabun <maguotong66@gmail.com>
Date: Tue, 28 Feb 2023 20:10:06 +0800
Subject: [PATCH 2/2] Remove duplicate parameters

---
 mavros/launch/node.launch | 1 -
 1 file changed, 1 deletion(-)

diff --git a/mavros/launch/node.launch b/mavros/launch/node.launch
index 5939db427..71be7b7f0 100644
--- a/mavros/launch/node.launch
+++ b/mavros/launch/node.launch
@@ -18,7 +18,6 @@
 		<param name="tgt_system" value="$(var tgt_system)" />
 		<param name="tgt_component" value="$(var tgt_component)" />
 		<param name="fcu_protocol" value="$(var fcu_protocol)" />
-		<param name="fcu_protocol" value="$(var fcu_protocol)" />
 		<!-- load blacklist, config -->
 		<param from="$(var pluginlists_yaml)" />
 		<param from="$(var config_yaml)" />