From 2ae78b279301a92ece8aa15b771176e2d3bdc211 Mon Sep 17 00:00:00 2001
From: Robin Shaun <robin_shaun@foxmail.com>
Date: Wed, 20 May 2020 10:43:17 +0800
Subject: [PATCH] =?UTF-8?q?=E5=8A=A0=E5=85=A5=E5=A4=9A=E6=9C=BA=E9=80=9A?=
 =?UTF-8?q?=E4=BF=A1=E5=90=AF=E5=8A=A8=E8=84=9A=E6=9C=AC?=
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---
 communication/multi_vehicle_communication.sh  |  16 +-
 communication/stop_communication.sh           |   4 +
 .../{run.sh => run_formation.sh}              |   0
 .../{stop.sh => stop_formation.sh}            |   0
 .../launch_generator/launch_head_1.11         |  20 ++
 .../launch_temp_1.11                          |   0
 .../launch_generator/multi_vehicle.launch     | 196 ++++++++++++++++++
 7 files changed, 228 insertions(+), 8 deletions(-)
 create mode 100644 communication/stop_communication.sh
 rename coordination/formation_demo/{run.sh => run_formation.sh} (100%)
 rename coordination/formation_demo/{stop.sh => stop_formation.sh} (100%)
 create mode 100644 coordination/launch_generator/launch_head_1.11
 rename coordination/{launch => launch_generator}/launch_temp_1.11 (100%)
 create mode 100644 coordination/launch_generator/multi_vehicle.launch

diff --git a/communication/multi_vehicle_communication.sh b/communication/multi_vehicle_communication.sh
index 1350a4d..8fe2e9d 100644
--- a/communication/multi_vehicle_communication.sh
+++ b/communication/multi_vehicle_communication.sh
@@ -1,12 +1,12 @@
 #!/bin/bash
 iris_num=6
-typhoon_h480_num=0
-solo_num=0
-plane_num=0
-rover_num=0
-standard_vtol_num=0
-tiltrotor_num=0
-tailsitter_num=0
+typhoon_h480_num=3
+solo_num=6
+plane_num=3
+rover_num=3
+standard_vtol_num=3
+tiltrotor_num=3
+tailsitter_num=6
 
 vehicle_num=0
 while(( $vehicle_num< iris_num)) 
@@ -39,7 +39,7 @@ done
 vehicle_num=0
 while(( $vehicle_num< rover_num)) 
 do
-    python rover_communication.py iris $vehicle_num&
+    python rover_communication.py $vehicle_num&
     let "vehicle_num++"
 done
 
diff --git a/communication/stop_communication.sh b/communication/stop_communication.sh
new file mode 100644
index 0000000..ae3d454
--- /dev/null
+++ b/communication/stop_communication.sh
@@ -0,0 +1,4 @@
+kill -9 $(ps -ef|grep multirotor_communication.py|gawk '$0 !~/grep/ {print $2}' |tr -s '\n' ' ')
+kill -9 $(ps -ef|grep plane_communication.py|gawk '$0 !~/grep/ {print $2}' |tr -s '\n' ' ')
+kill -9 $(ps -ef|grep rover_communication.py|gawk '$0 !~/grep/ {print $2}' |tr -s '\n' ' ')
+kill -9 $(ps -ef|grep vtol_communication.py|gawk '$0 !~/grep/ {print $2}' |tr -s '\n' ' ')
\ No newline at end of file
diff --git a/coordination/formation_demo/run.sh b/coordination/formation_demo/run_formation.sh
similarity index 100%
rename from coordination/formation_demo/run.sh
rename to coordination/formation_demo/run_formation.sh
diff --git a/coordination/formation_demo/stop.sh b/coordination/formation_demo/stop_formation.sh
similarity index 100%
rename from coordination/formation_demo/stop.sh
rename to coordination/formation_demo/stop_formation.sh
diff --git a/coordination/launch_generator/launch_head_1.11 b/coordination/launch_generator/launch_head_1.11
new file mode 100644
index 0000000..403fd8a
--- /dev/null
+++ b/coordination/launch_generator/launch_head_1.11
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<launch>
+    <!-- MAVROS posix SITL environment launch script -->
+    <!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
+    <!-- vehicle model and world -->
+    <arg name="est" default="ekf2"/>
+    <arg name="world" default="$(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>
diff --git a/coordination/launch/launch_temp_1.11 b/coordination/launch_generator/launch_temp_1.11
similarity index 100%
rename from coordination/launch/launch_temp_1.11
rename to coordination/launch_generator/launch_temp_1.11
diff --git a/coordination/launch_generator/multi_vehicle.launch b/coordination/launch_generator/multi_vehicle.launch
new file mode 100644
index 0000000..1cde451
--- /dev/null
+++ b/coordination/launch_generator/multi_vehicle.launch
@@ -0,0 +1,196 @@
+<?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="$(arg paused)"/>
+    </include>
+     <!-- rover_0 -->
+     <group ns="rover_0">
+        <!-- MAVROS and vehicle configs -->
+            <arg name="ID" value="0"/>
+            <arg name="ID_in_group" value="0"/>
+            <arg name="fcu_url" default="udp://:14540@127.0.0.1:34570"/>
+        <!-- PX4 SITL and vehicle spawn -->
+        <include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
+            <arg name="x" value="3"/>
+            <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="rover"/>
+            <arg name="sdf" value="rover_with_sensors"/>
+            <arg name="mavlink_udp_port" value="24560"/>
+            <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="$(eval 1 + arg('ID'))"/>
+            <arg name="tgt_component" value="1"/>
+        </include>
+    </group>
+     <!-- rover_1 -->
+     <group ns="rover_1">
+        <!-- MAVROS and vehicle configs -->
+            <arg name="ID" value="1"/>
+            <arg name="ID_in_group" value="1"/>
+            <arg name="fcu_url" default="udp://:14541@127.0.0.1:34572"/>
+        <!-- PX4 SITL and vehicle spawn -->
+        <include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
+            <arg name="x" value="6"/>
+            <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="rover"/>
+            <arg name="sdf" value="rover_with_sensors"/>
+            <arg name="mavlink_udp_port" value="24562"/>
+            <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="$(eval 1 + arg('ID'))"/>
+            <arg name="tgt_component" value="1"/>
+        </include>
+    </group>
+     <!-- rover_2 -->
+     <group ns="rover_2">
+        <!-- MAVROS and vehicle configs -->
+            <arg name="ID" value="2"/>
+            <arg name="ID_in_group" value="2"/>
+            <arg name="fcu_url" default="udp://:14542@127.0.0.1:34574"/>
+        <!-- PX4 SITL and vehicle spawn -->
+        <include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
+            <arg name="x" value="9"/>
+            <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="rover"/>
+            <arg name="sdf" value="rover_with_sensors"/>
+            <arg name="mavlink_udp_port" value="24564"/>
+            <arg name="mavlink_tcp_port" value="4562"/>
+            <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="$(eval 1 + arg('ID'))"/>
+            <arg name="tgt_component" value="1"/>
+        </include>
+    </group>
+     <!-- typhoon_h480_0 -->
+     <group ns="typhoon_h480_0">
+        <!-- MAVROS and vehicle configs -->
+            <arg name="ID" value="3"/>
+            <arg name="ID_in_group" value="0"/>
+            <arg name="fcu_url" default="udp://:14543@127.0.0.1:34576"/>
+        <!-- PX4 SITL and vehicle spawn -->
+        <include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
+            <arg name="x" value="6"/>
+            <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="typhoon_h480"/>
+            <arg name="sdf" value="typhoon_h480_stereo"/>
+            <arg name="mavlink_udp_port" value="24566"/>
+            <arg name="mavlink_tcp_port" value="4563"/>
+            <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="$(eval 1 + arg('ID'))"/>
+            <arg name="tgt_component" value="1"/>
+        </include>
+    </group>
+     <!-- typhoon_h480_1 -->
+     <group ns="typhoon_h480_1">
+        <!-- MAVROS and vehicle configs -->
+            <arg name="ID" value="4"/>
+            <arg name="ID_in_group" value="1"/>
+            <arg name="fcu_url" default="udp://:14544@127.0.0.1:34578"/>
+        <!-- PX4 SITL and vehicle spawn -->
+        <include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
+            <arg name="x" value="9"/>
+            <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="typhoon_h480"/>
+            <arg name="sdf" value="typhoon_h480_stereo"/>
+            <arg name="mavlink_udp_port" value="24568"/>
+            <arg name="mavlink_tcp_port" value="4564"/>
+            <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="$(eval 1 + arg('ID'))"/>
+            <arg name="tgt_component" value="1"/>
+        </include>
+    </group>
+     <!-- typhoon_h480_2 -->
+     <group ns="typhoon_h480_2">
+        <!-- MAVROS and vehicle configs -->
+            <arg name="ID" value="5"/>
+            <arg name="ID_in_group" value="2"/>
+            <arg name="fcu_url" default="udp://:14545@127.0.0.1:34580"/>
+        <!-- PX4 SITL and vehicle spawn -->
+        <include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
+            <arg name="x" value="12"/>
+            <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="typhoon_h480"/>
+            <arg name="sdf" value="typhoon_h480_stereo"/>
+            <arg name="mavlink_udp_port" value="24570"/>
+            <arg name="mavlink_tcp_port" value="4565"/>
+            <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  -->
\ No newline at end of file