Parallel Simulation

To simulate UAVs both in simulation and reality

Introduction

Before your work, do as follows:

1.configure before catkin_make

1.move launch files to PX4_Firmware/launch

cd parallel-simulation
cp launch/* ~/PX4_Firmware/launch/

2.set parameter in qnode.hpp

int real_num = 0;  //when run simulation,make sure real_num=0

2.compile workspace

cd parallel-simulation/src
catkin_init_workspace
cd ..
catkin_make
source devel/setup.bash

3.set multi-instance port number (for simulation)

roscd px4
cd ROMFS/px4fmu_common/init.d-posix
gedit  rcS

modify the port as follows:

# multi-instance setup
# shellcheck disable=SC2154
param set MAV_SYS_ID $((px4_instance+1))
simulator_tcp_port=$((4560+px4_instance))
udp_offboard_port_local=$((34580+px4_instance))
udp_offboard_port_remote=$((24540+px4_instance))
# [ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
udp_onboard_payload_port_local=$((14280+px4_instance))
udp_onboard_payload_port_remote=$((14030+px4_instance))
udp_gcs_port_local=$((18570+px4_instance))

4.simulation start

1.start simulation environment

roslaunch px4 iris3_parallel_simulation.launch    # 3 UAVs in simulation
roslaunch px4 iris10_parallel_simulation.launch   # 10 UAVs in simulation

2.run main framework of control

mpiexec -n 3 python px4_control_sim.py    # 3 UAVs in simulation
mpiexec -n 10 python px4_control_sim.py   # 10 UAVs in simulation

3.run gcs

rosrun xtdrone_qt xtdrone_qt

MALAN / parallel_simulation

Parallel Simulation

Introduction

1.configure before catkin_make

2.compile workspace

3.set multi-instance port number (for simulation)

4.simulation start

简介

发行版

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Parallel Simulation

Introduction

1.configure before catkin_make

2.compile workspace

3.set multi-instance port number (for simulation)

4.simulation start

简介

发行版

贡献者

近期动态

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MALAN / parallel_simulation