Quadrotor configuration

[plusangel]

I want to simulate a quadcopter having X configuration instead of +. Is it possible to change this in the hector_quadrotor?

Thanks in advance

[eroniki]

Given below is a sample multi-quad startup launch file for hector_quadrotor. As you spawn quadrotors with spawn_quadrotor.launch, you can set the spawning location of individual quads by changing the "x", "y" and "z" arguments in the launch file.

<include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="gui" value="$(arg gui)"/>
    <arg name="headless" value="$(arg headless)"/>
    <arg name="debug" value="$(arg debug)"/>
</include>

<group ns="uav1">
    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
        <arg name="name" value="uav1"/>
        <arg name="tf_prefix" value="uav1"/>
        <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_downward_cam.gazebo.xacro"/>
        <arg name="y" value="-1.0"/>
        <arg name="use_ground_truth_for_tf" value="true"/>
        <arg name="use_ground_truth_for_control" value="true"/>
        <arg default="false" name="use_pose_estimation"/>
    </include>
</group>

<group ns="uav2">
    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
        <arg name="name" value="uav2"/>
        <arg name="tf_prefix" value="uav2"/>
        <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_downward_cam.gazebo.xacro"/>
        <arg name="y" value="1.0"/>
        <arg name="use_ground_truth_for_tf" value="true"/>
        <arg name="use_ground_truth_for_control" value="true"/>
        <arg default="false" name="use_pose_estimation"/>
    </include>
</group>

<group ns="uav3">
    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
        <arg name="name" value="uav3"/>
        <arg name="tf_prefix" value="uav3"/>
        <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_downward_cam.gazebo.xacro"/>
        <arg name="y" value="0"/>
        <arg name="use_ground_truth_for_tf" value="true"/>
        <arg name="use_ground_truth_for_control" value="true"/>
        <arg default="false" name="use_pose_estimation"/>
    </include>
</group>