add donation and sponsors

README.en.md

@@ -2,7 +2,7 @@
 
 <div id="sidebar"><a href="./README.md" target="_blank"><font color=#0000FF size=5px >[中文版]<font></center><a></div>
 
-#### Description
+### Description
 
 XTDrone is a UAV simulation platform based on PX4, ROS and Gazebo. XTDrone supports mulitrotors (including quadrotors and hexarotors), fixed wings, VTOLs (including quadplanes, tailsitters and tiltrotors) and other unmanned equipment (such as UGVs, USVs and robotic arms). It's convenient to deploy the algorithm to real UAVs after testing and debugging on the simulation platform.
 
@@ -73,16 +73,35 @@ Developers can quickly verify algorithms with XTDrone, such as:
 <img src="./images/usv.gif" width="640" height="360" />  
 
 
-#### User manual
+### User manual
 
  [XTDrone Manual](https://www.yuque.com/xtdrone/manual_en)
 
-#### Developing Team
+### Developing Team
 
 - Founders: Kun Xiao, Shaochang Tan
 - Adviser: Xiangke Wang
-- Developers: Kun Xiao, Shaochang Tan, Guanzheng Wang, Lan Ma, Qipeng Wang, Ruoqiao Guan, Xinyu Hu, Keyan Chen, Gao Chen
+- Developers: Kun Xiao, Shaochang Tan, Guanzheng Wang, Lan Ma, Qipeng Wang, Xinyu Hu, Wenxin Hu, Yi Bao, Ruoqiao Guan, Xinyu Hu, Keyan Chen, Gao Chen
 
-#### Thanks to Contributers
+### Contributers
+
+Sincerely thank you for your contribution to XTDrone.
 
 Changhao Sun, Zihan Lin, Yao He
+
+### Donation
+
+If you like XTDrone, you can donate to the XTDrone teams. Feel free to note your name or homepage, we will add to the sponsor list.
+
+<img src="./images/donation.png" width="640" height="360" /> 
+
+### Sponsors
+
+Sincerely thank you for your generosity.
+
+Rongxuan Gao
+
+
+
+
+

README.md

@@ -81,12 +81,26 @@ Xiao, K., Ma, L., Tan, S., Cong, Y., Wang, X.: Implementation of UAV Coordinatio
 
 - 创立者：肖昆，谭劭昌
 - 指导老师：王祥科
-- 开发团队：肖昆，谭劭昌，王冠政，马澜，王齐鹏，管若乔，胡新雨，陈科研，陈皋
+- 开发团队：肖昆，谭劭昌，王冠政，马澜，王齐鹏，胡新雨，胡文信，鲍毅，管若乔，陈科研，陈皋
 
 ### 加入我们
 
 欢迎广大无人机开发者们加入我们的团队，共同学习进步。如有意向，请把简历（包含对PX4 ROS与Gazebo的掌握情况）发到robin_shaun@foxmail.com，让我们一起完善XTDrone仿真平台。
 
-### 感谢贡献者们
+### 贡献者
+
+非常感谢你们为XTDrone的贡献
 
 孙长浩 林梓涵 何瑶 
+
+### 捐赠
+
+如果您觉得XTDrone对您有帮助，可以给XTDrone团队捐赠，如果您愿意，可以备注上姓名或个人主页，我们将把您添加到赞助人名单中。
+
+<img src="./images/donation.png" width="640" height="360" /> 
+
+### 赞助人
+
+非常感谢你们对XTDrone团队的支持
+
+高荣旋

communication/multi_vehicle_communication.sh

@@ -1,6 +1,6 @@
 #!/bin/bash
-iris_num=0
-typhoon_h480_num=6
+iris_num=6
+typhoon_h480_num=0
 solo_num=0
 plane_num=0
 rover_num=0

coordination/launch_generator/multi_vehicle.launch

@@ -0,0 +1,80 @@
+<?xml version="1.0"?>
+<launch>
+    <!-- MAVROS posix SITL environment launch script -->
+    <!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
+    <!-- vehicle model and world -->
+    <arg name="est" default="ekf2"/>
+    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/outdoor2.world"/>
+    <!-- gazebo configs -->
+    <arg name="gui" default="true"/>
+    <arg name="debug" default="false"/>
+    <arg name="verbose" default="false"/>
+    <arg name="paused" default="false"/>
+    <!-- Gazebo sim -->
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="world_name" value="$(arg world)"/>
+        <arg name="debug" value="$(arg debug)"/>
+        <arg name="verbose" value="$(arg verbose)"/>
+        <arg name="paused" value="$(arg paused)"/>
+    </include>
+     <!-- iris_0 -->
+     <group ns="iris_0">
+        <!-- MAVROS and vehicle configs -->
+            <arg name="ID" value="0"/>
+            <arg name="ID_in_group" value="0"/>
+            <arg name="fcu_url" default="udp://:24540@localhost:34580"/>
+        <!-- PX4 SITL and vehicle spawn -->
+        <include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
+            <arg name="x" value="0"/>
+            <arg name="y" value="3"/>
+            <arg name="z" value="0"/>
+            <arg name="R" value="0"/>
+            <arg name="P" value="0"/>
+            <arg name="Y" value="0"/>
+            <arg name="vehicle" value="iris"/>
+            <arg name="sdf" value="iris"/>
+            <arg name="mavlink_udp_port" value="18570"/>
+            <arg name="mavlink_tcp_port" value="4560"/>
+            <arg name="ID" value="$(arg ID)"/>
+            <arg name="ID_in_group" value="$(arg ID_in_group)"/>
+        </include>
+        <!-- MAVROS -->
+        <include file="$(find mavros)/launch/px4.launch">
+            <arg name="fcu_url" value="$(arg fcu_url)"/>
+            <arg name="gcs_url" value=""/>
+            <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
+            <arg name="tgt_component" value="1"/>
+        </include>
+    </group>
+     <!-- iris_1 -->
+     <group ns="iris_1">
+        <!-- MAVROS and vehicle configs -->
+            <arg name="ID" value="1"/>
+            <arg name="ID_in_group" value="1"/>
+            <arg name="fcu_url" default="udp://:24541@localhost:34581"/>
+        <!-- PX4 SITL and vehicle spawn -->
+        <include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
+            <arg name="x" value="0"/>
+            <arg name="y" value="6"/>
+            <arg name="z" value="0"/>
+            <arg name="R" value="0"/>
+            <arg name="P" value="0"/>
+            <arg name="Y" value="0"/>
+            <arg name="vehicle" value="iris"/>
+            <arg name="sdf" value="iris"/>
+            <arg name="mavlink_udp_port" value="18571"/>
+            <arg name="mavlink_tcp_port" value="4561"/>
+            <arg name="ID" value="$(arg ID)"/>
+            <arg name="ID_in_group" value="$(arg ID_in_group)"/>
+        </include>
+        <!-- MAVROS -->
+        <include file="$(find mavros)/launch/px4.launch">
+            <arg name="fcu_url" value="$(arg fcu_url)"/>
+            <arg name="gcs_url" value=""/>
+            <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
+            <arg name="tgt_component" value="1"/>
+        </include>
+    </group>
+</launch>
+<!--the launch file is generated by XTDrone multi-vehicle generator.py  -->

sensing/slam/vio/vins_transfer.py

@@ -8,7 +8,7 @@ import sys
 
 vehicle_type = sys.argv[1]
 local_pose = PoseStamped()
-local_pose.header.frame_id = 'map'
+local_pose.header.frame_id = 'world'
 quaternion = tf.transformations.quaternion_from_euler(0, -math.pi/2, math.pi/2)
 q = Quaternion([quaternion[3],quaternion[0],quaternion[1],quaternion[2]])