ardupilot_gazebo多机仿真

https://ardupilot.org/dev/docs/using-gazebo-simulator-with-sitl.html

https://www.cnblogs.com/spa147/p/10088003.html

https://blog.csdn.net/CAIYUNFREEDOM/article/details/106081124

https://blog.csdn.net/weixin_33904756/article/details/93617723

https://github.com/SwiftGust/ardupilot_gazebo

Multi-Vehicle simulation

This section explains how to connect any combination of multi-vehicles of ArduPilot

For the multi-vehicle connection, port number is increased by 10
In SITL launch argument (sim_vehicle.py)

-I 0 has FDM in/out ports of 9002/9003 / GCS connection UDP:14550

-I 1 has FDM in/out ports of 9012/9013 / GCS connection UDP:14560

-I 2 has FDM in/out ports of 9022/9023 / GCS connection UDP:14570

and so on...

You will need to edit your world for any combination of Rover, Plane, Copter, etc...

Additional Note for GCS Connection
You will also need to edit ArduPilot Parameter SYSID_THISMAV to be unique from one another for the GCS connection

Example

Look simulation of 3 IRIS quadcopter at once from Jonathan Lopes Florêncio
https://www.youtube.com/watch?v=3c7EhVMaqKY&feature=youtu.be

需要修改端口号默认是9002/9003。需要sim_vel.py添加参数-I 1 或者-I 2默认-I 是0.

 

https://www.bilibili.com/video/BV175411e7yU/