10.5 SITL Swarm
24.0624 (24.0508 was "Total sim P4 swarms")
The Gdrive document 10.5_(1.4)_sim-all_swarm_v47_24.0218.docx shows how to configure drone swarms in the total simulation environment.
MavProxy console, SITL, and Gazebo
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Video 20: Basic drone swarm sim. Config model.config, model.sdf for each drone. @520 replace the runway.world drone models (why?). Roslaunch runway.launch. Takeoff both copters.
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Video 21: Swarm with AP and QGC. Add vehicleinfo.py entries. Set gazebo-drone1/2.parm file SYSID_THISMAV=1/2. Add QGC comm links 1/2. Roslaunch runway.launch. sim_vehicle.py -f gazebo-drone1/2 --console-I0/1. QGC connect and takeoff for 1/2.
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Video 22: Swarm with AP and MavROS. Write square.cpp, multi-square.launch. (1) Roslaunch multi_drone.launch (Gazebo + ROS). (2) sim_vehicle.py -f gazebo-drone1/2 --console -I0/1 (SITL+MavProxy 1/2). (3) Roslaunch multi-apm.launch (MavROS). (4) Roslaunch iq_gnc multi_square.launch (SITL's go into mode guided and takeoff).
