加入多机通信脚本
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6cd30e2c9c
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b813e5eab8
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@ -0,0 +1,65 @@
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#!/bin/bash
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iris_num=9
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typhoon_h480_num=0
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solo_num=0
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plane_num=0
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rover_num=0
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standard_vtol_num=0
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tiltrotor_num=0
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tailsitter_num=0
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vehicle_num=0
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while(( $vehicle_num< iris_num))
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do
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python multirotor_communication.py iris $vehicle_num&
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let "vehicle_num++"
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done
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vehicle_num=0
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while(( $vehicle_num< typhoon_h480_num))
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do
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python multirotor_communication.py typhoon_h480 $vehicle_num&
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let "vehicle_num++"
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done
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vehicle_num=0
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while(( $vehicle_num< solo_num))
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do
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python multirotor_communication.py solo $vehicle_num&
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let "vehicle_num++"
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done
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vehicle_num=0
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while(( $vehicle_num< plane_num))
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do
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python plane_communication.py $vehicle_num&
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let "vehicle_num++"
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done
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vehicle_num=0
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while(( $vehicle_num< rover_num))
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do
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python rover_communication.py iris $vehicle_num&
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let "vehicle_num++"
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done
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vehicle_num=0
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while(( $vehicle_num< standard_vtol_num))
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do
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python vtol_communication.py standard_vtol $vehicle_num&
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let "vehicle_num++"
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done
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vehicle_num=0
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while(( $vehicle_num< tiltrotor_num))
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do
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python vtol_communication.py tiltrotor $vehicle_num&
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let "vehicle_num++"
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done
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vehicle_num=0
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while(( $vehicle_num< tailsitter_num))
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do
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python vtol_communication.py tailsitter $vehicle_num&
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let "vehicle_num++"
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done
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@ -18,8 +18,8 @@
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<arg name="verbose" value="$(arg verbose)"/>
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<arg name="paused" value="$(arg paused)"/>
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</include>
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<!-- rover_0 -->
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<group ns="rover_0">
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<!-- iris_0 -->
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<group ns="iris_0">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="0"/>
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<arg name="ID_in_group" value="0"/>
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@ -32,8 +32,8 @@
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="rover"/>
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<arg name="sdf" value="rover"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="24560"/>
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<arg name="mavlink_tcp_port" value="4560"/>
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<arg name="ID" value="$(arg ID)"/>
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@ -47,22 +47,22 @@
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- plane_0 -->
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<group ns="plane_0">
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<!-- iris_1 -->
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<group ns="iris_1">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="1"/>
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<arg name="ID_in_group" value="0"/>
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<arg name="ID_in_group" value="1"/>
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<arg name="fcu_url" default="udp://:14541@127.0.0.1:34572"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="3"/>
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<arg name="y" value="0"/>
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<arg name="x" value="0"/>
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<arg name="y" value="3"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="plane"/>
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<arg name="sdf" value="plane"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="24562"/>
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<arg name="mavlink_tcp_port" value="4561"/>
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<arg name="ID" value="$(arg ID)"/>
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@ -76,22 +76,22 @@
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- plane_1 -->
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<group ns="plane_1">
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<!-- iris_2 -->
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<group ns="iris_2">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="2"/>
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<arg name="ID_in_group" value="1"/>
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<arg name="ID_in_group" value="2"/>
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<arg name="fcu_url" default="udp://:14542@127.0.0.1:34574"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="3"/>
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<arg name="y" value="3"/>
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<arg name="x" value="0"/>
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<arg name="y" value="6"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="plane"/>
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<arg name="sdf" value="plane"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="24564"/>
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<arg name="mavlink_tcp_port" value="4562"/>
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<arg name="ID" value="$(arg ID)"/>
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@ -105,22 +105,22 @@
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- solo_0 -->
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<group ns="solo_0">
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<!-- iris_3 -->
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<group ns="iris_3">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="3"/>
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<arg name="ID_in_group" value="0"/>
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<arg name="ID_in_group" value="3"/>
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<arg name="fcu_url" default="udp://:14543@127.0.0.1:34576"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="6"/>
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<arg name="y" value="0"/>
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<arg name="x" value="0"/>
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<arg name="y" value="9"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="solo"/>
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<arg name="sdf" value="solo_stereo_camera"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="24566"/>
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<arg name="mavlink_tcp_port" value="4563"/>
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<arg name="ID" value="$(arg ID)"/>
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@ -134,22 +134,22 @@
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- solo_1 -->
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<group ns="solo_1">
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<!-- iris_4 -->
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<group ns="iris_4">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="4"/>
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<arg name="ID_in_group" value="1"/>
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<arg name="ID_in_group" value="4"/>
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<arg name="fcu_url" default="udp://:14544@127.0.0.1:34578"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="6"/>
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<arg name="y" value="3"/>
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<arg name="x" value="0"/>
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<arg name="y" value="12"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="solo"/>
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<arg name="sdf" value="solo_stereo_camera"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="24568"/>
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<arg name="mavlink_tcp_port" value="4564"/>
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<arg name="ID" value="$(arg ID)"/>
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@ -163,5 +163,121 @@
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_5 -->
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<group ns="iris_5">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="5"/>
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<arg name="ID_in_group" value="5"/>
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<arg name="fcu_url" default="udp://:14545@127.0.0.1:34580"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="15"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="24570"/>
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<arg name="mavlink_tcp_port" value="4565"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_6 -->
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<group ns="iris_6">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="6"/>
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<arg name="ID_in_group" value="6"/>
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<arg name="fcu_url" default="udp://:14546@127.0.0.1:34582"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="18"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="24572"/>
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<arg name="mavlink_tcp_port" value="4566"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_7 -->
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<group ns="iris_7">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="7"/>
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<arg name="ID_in_group" value="7"/>
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<arg name="fcu_url" default="udp://:14547@127.0.0.1:34584"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="21"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="24574"/>
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<arg name="mavlink_tcp_port" value="4567"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_8 -->
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<group ns="iris_8">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="8"/>
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<arg name="ID_in_group" value="8"/>
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<arg name="fcu_url" default="udp://:14548@127.0.0.1:34586"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="24"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="24576"/>
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<arg name="mavlink_tcp_port" value="4568"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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</launch>
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<!--the launch file is generated by XTDrone multi-vehicle generator.py -->
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