Skip to content

Commit fc348ed

Browse files
lukvaceklukvacek
committed
we have swarms
1 parent 58d8156 commit fc348ed

5 files changed

Lines changed: 166 additions & 2 deletions

File tree

‎Tools/sitl_gazebo‎

‎launch/posix_sitl.launch‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -9,7 +9,7 @@
99
<arg name="Y" default="0"/>
1010

1111
<arg name="est" default="lpe"/>
12-
<arg name="vehicle" default="iris"/>
12+
<arg name="vehicle" default="f450"/>
1313
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
1414
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
1515
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>

‎launch/posix_sitl_two.launch‎

Lines changed: 82 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,82 @@
1+
<launch>
2+
3+
<!-- Posix SITL environment launch script -->
4+
<arg name="x" default="0"/>
5+
<arg name="y" default="0"/>
6+
<arg name="z" default="0"/>
7+
<arg name="R" default="0"/>
8+
<arg name="P" default="0"/>
9+
<arg name="Y" default="0"/>
10+
11+
<arg name="x2" default="-1"/>
12+
<arg name="y2" default="-3"/>
13+
14+
<arg name="est" default="lpe"/>
15+
<arg name="vehicle" default="f450"/>
16+
<arg name="vehicle2" default="f450-1"/>
17+
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
18+
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
19+
<arg name="sdf2" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle2)/$(arg vehicle2).sdf"/>
20+
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>
21+
<arg name="rcS2" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle2)"/>
22+
23+
<arg name="headless" default="false"/>
24+
<arg name="gui" default="true"/>
25+
<arg name="ns" default="/"/>
26+
27+
<arg name="debug" default="false"/>
28+
<arg name="verbose" default="false"/>
29+
<arg name="paused" default="false"/>
30+
31+
<arg name="log_output" default="screen" />
32+
33+
<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
34+
<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
35+
36+
<node name="sitl" pkg="px4" type="px4" output="screen"
37+
args="$(find px4) $(arg rcS)">
38+
</node>
39+
40+
<node name="sitl2" pkg="px4" type="px4" output="screen"
41+
args="$(find px4) $(arg rcS2)">
42+
</node>
43+
44+
<include file="$(find gazebo_ros)/launch/empty_world.launch">
45+
<arg name="headless" value="$(arg headless)"/>
46+
<arg name="gui" value="$(arg gui)"/>
47+
<arg name="world_name" value="$(arg world)" />
48+
<arg name="debug" value="$(arg debug)" />
49+
<arg name="verbose" value="$(arg verbose)" />
50+
<arg name="paused" value="$(arg paused)" />
51+
</include>
52+
53+
<node name="$(anon vehicle_spawn)" output="screen" pkg="gazebo_ros" type="spawn_model"
54+
args="-sdf -file $(arg sdf) -model $(arg vehicle) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>-->
55+
56+
<node name="$(anon vehicle_spawn_2)" output="screen" pkg="gazebo_ros" type="spawn_model"
57+
args="-sdf -file $(arg sdf2) -model $(arg vehicle2) -x $(arg x2) -y $(arg y2) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
58+
59+
<node pkg="mavros" type="mavros_node" name="mavros1" required="true" clear_params="true" output="$(arg log_output)">
60+
<param name="fcu_url" value="udp://:14540@localhost:14557"/>
61+
<param name="gcs_url" value="" />
62+
<param name="target_system_id" value="1" />
63+
<param name="target_component_id" value="1" />
64+
<param name="system_id" value="34" />
65+
<rosparam command="load" file="$(arg pluginlists_yaml)" />
66+
<rosparam command="load" file="$(arg config_yaml)" />
67+
</node>
68+
69+
<node pkg="mavros" type="mavros_node" name="mavros2" required="true" clear_params="true" output="$(arg log_output)">
70+
<param name="fcu_url" value="udp://:14640@localhost:14657"/>
71+
<param name="gcs_url" value="" />
72+
<param name="target_system_id" value="2" />
73+
<param name="target_component_id" value="2" />
74+
<param name="system_id" value="48" />
75+
<!-- load blacklist, config -->
76+
<rosparam command="load" file="$(arg pluginlists_yaml)" />
77+
<rosparam command="load" file="$(arg config_yaml)" />
78+
</node>
79+
80+
</launch>
81+
82+
<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->

‎posix-configs/SITL/init/lpe/f450‎

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,7 @@
11
uorb start
22
param load
3+
param set MAV_SYS_ID 1
4+
param set MAV_COMP_ID 1
35
param set MAV_TYPE 2
46
param set SYS_AUTOSTART 4010
57
param set SYS_RESTART_TYPE 2

‎posix-configs/SITL/init/lpe/f450-1‎

Lines changed: 80 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,80 @@
1+
uorb start
2+
param load
3+
param set MAV_SYS_ID 2
4+
param set MAV_COMP_ID 2
5+
param set MAV_TYPE 2
6+
param set SYS_AUTOSTART 4010
7+
param set SYS_RESTART_TYPE 2
8+
dataman start
9+
param set BAT_N_CELLS 3
10+
param set CAL_GYRO0_ID 2293768
11+
param set CAL_ACC0_ID 1376264
12+
param set CAL_ACC1_ID 1310728
13+
param set CAL_MAG0_ID 196616
14+
param set CAL_GYRO0_XOFF 0.01
15+
param set CAL_ACC0_XOFF 0.01
16+
param set CAL_ACC0_YOFF -0.01
17+
param set CAL_ACC0_ZOFF 0.01
18+
param set CAL_ACC0_XSCALE 1.01
19+
param set CAL_ACC0_YSCALE 1.01
20+
param set CAL_ACC0_ZSCALE 1.01
21+
param set CAL_ACC1_XOFF 0.01
22+
param set CAL_MAG0_XOFF 0.01
23+
param set SENS_BOARD_ROT 0
24+
param set SENS_BOARD_X_OFF 0.000001
25+
param set COM_RC_IN_MODE 1
26+
param set NAV_DLL_ACT 2
27+
param set COM_DISARM_LAND 3
28+
param set NAV_ACC_RAD 2.0
29+
param set COM_OF_LOSS_T 5
30+
param set COM_OBL_ACT 2
31+
param set COM_OBL_RC_ACT 0
32+
param set RTL_RETURN_ALT 30.0
33+
param set RTL_DESCEND_ALT 5.0
34+
param set RTL_LAND_DELAY 5
35+
param set MIS_TAKEOFF_ALT 2.5
36+
param set MC_ROLLRATE_P 0.2
37+
param set MC_PITCHRATE_P 0.2
38+
param set MC_PITCH_P 6
39+
param set MC_ROLL_P 6
40+
param set MPC_HOLD_MAX_Z 2.0
41+
param set MPC_HOLD_XY_DZ 0.1
42+
param set MPC_Z_VEL_P 0.6
43+
param set MPC_Z_VEL_I 0.15
44+
param set EKF2_GBIAS_INIT 0.01
45+
param set EKF2_ANGERR_INIT 0.01
46+
replay tryapplyparams
47+
simulator start -s -u 14660
48+
rgbledsim start
49+
tone_alarm start
50+
gyrosim start
51+
accelsim start
52+
barosim start
53+
adcsim start
54+
gpssim start
55+
pwm_out_sim mode_pwm
56+
sleep 1
57+
sensors start
58+
commander start
59+
land_detector start multicopter
60+
navigator start
61+
attitude_estimator_q start
62+
local_position_estimator start
63+
mc_pos_control start
64+
mc_att_control start
65+
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
66+
mavlink start -u 14656 -r 4000000
67+
mavlink start -u 14657 -r 4000000 -m onboard -o 14640
68+
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14656
69+
mavlink stream -r 100 -s LOCAL_POSITION_NED -u 14656
70+
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14656
71+
mavlink stream -r 50 -s ATTITUDE -u 14656
72+
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14656
73+
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14656
74+
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14656
75+
mavlink stream -r 20 -s RC_CHANNELS -u 14656
76+
mavlink stream -r 50 -s HIGHRES_IMU -u 14656
77+
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14656
78+
logger start -e -t
79+
mavlink boot_complete
80+
replay trystart

0 commit comments

Comments
 (0)