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加入多机通信启动脚本

This commit is contained in:
Robin Shaun 2020-05-20 10:43:17 +08:00
parent 9117b6e8fb
commit 2ae78b2793
7 changed files with 228 additions and 8 deletions
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16
communication/multi_vehicle_communication.sh
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@ -1,12 +1,12 @@
#!/bin/bash #!/bin/bash
iris_num=6 iris_num=6
typhoon_h480_num=0 typhoon_h480_num=3
solo_num=0 solo_num=6
plane_num=0 plane_num=3
rover_num=0 rover_num=3
standard_vtol_num=0 standard_vtol_num=3
tiltrotor_num=0 tiltrotor_num=3
tailsitter_num=0 tailsitter_num=6
vehicle_num=0 vehicle_num=0
while(( $vehicle_num< iris_num)) while(( $vehicle_num< iris_num))
@ -39,7 +39,7 @@ done
vehicle_num=0 vehicle_num=0
while(( $vehicle_num< rover_num)) while(( $vehicle_num< rover_num))
do do
python rover_communication.py iris $vehicle_num& python rover_communication.py $vehicle_num&
let "vehicle_num++" let "vehicle_num++"
done done

4
communication/stop_communication.sh Normal file
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@ -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' ' ')

0
coordination/formation_demo/run.sh → coordination/formation_demo/run_formation.sh
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0
coordination/formation_demo/stop.sh → coordination/formation_demo/stop_formation.sh
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20
coordination/launch_generator/launch_head_1.11 Normal file
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@ -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>

0
coordination/launch/launch_temp_1.11 → coordination/launch_generator/launch_temp_1.11
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196
coordination/launch_generator/multi_vehicle.launch Normal file
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@ -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 -->