Update multi-vehicle-simulation.md #821
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The mult-UAV simulation with Gazebo needed a little more description. xacro was covered pretty good, where using sdf files where not documented at all.
| @@ -120,6 +120,8 @@ To add a third iris to this simulation there are two main components to consider | |||
| > **Note** Be aware of which port is `src` and `dst` for the different endpoints. | |||
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| If you like to use the `SDF` models in the repository, you need to specify the UDP and TCP communication ports manually for each `SDF` file. So if you want to add multiple UAV's of the same model, you need to create a seperate `SDF` file for every UAV with its custom UDP and TCP ports. To add the TCP port in the `SDF` file, add `<mavlink_tcp_port>4560</mavlink_tcp_port>` under `<mavlink_udp_port>14561</mavlink_udp_port>`. The [mavros_posix_sitl.launch](https://github.com/PX4/Firmware/blob/master/launch/mavros_posix_sitl.launch) is a good starting point to use `SDF` files in the launch. | |||
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@lamping7 Can you please confirm that this is correct? It sounds like what is implied by the rest of the doc, so my first thought was that it probably is :-)
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Thanks @tensarflow . I've asked Anthony to comment on this as he as worked on the area extensively. |
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I'll take a look soon at the details. I just want to quickly point out PX4/PX4-Autopilot#12306 which removed the need to create copies of the same model. |
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Thanks very much @lamping7 . Are you OK to look at fixes related to PX4/PX4-Autopilot#12306 after reviewing this PR? I can follow this up, but it probably makes more sense for you to do so. |
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I think that solves the problem. Thank you very much @lamping7 !! |
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Also I'd like to point out that I can't actually find any documentation about how to customize these roslaunch files. For example there are various |
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You need to Google roslaunch. That's ROS basics. You don't modify the file to change the vehicle. You specify it as an argument when you run the roslaunch command. |
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Okay I see.. |
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Close in favor of #825 @hamishwillee? |
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Yes :-). Thanks @lamping7 - an @tensarflow see #825 |
The mult-UAV simulation with Gazebo needed a little more description. xacro was covered pretty good, where using sdf files where not documented at all.