[feat] updated params for multi-vehicle simulation

config/mavros_config.yaml

@@ -1,9 +1,33 @@
 /**:
   ros__parameters:
-    fcu_url: "udp://:[email protected]:14557" # Autopilot address for connection
+    # fcu_url: "udp://:[email protected]:14557" # Autopilot address for connection
     gcs_url: "" # URL for the GCS
-    tgt_system: 1 # Target system ID
+    # tgt_system: 1 # Target system ID
     tgt_component: 1 # Target component ID
     log_output: "screen" # Logging output type
     fcu_protocol: "v2.0" # Protocol version for the FCU
     respawn_mavros: "false" # Respawn mavros node if it dies
+
+drone0:
+  mavros/mavros_node:
+    ros__parameters:
+      fcu_url: "udp://:[email protected]:14557" # Autopilot address for connection
+      tgt_system: 1 # Target system ID
+
+drone1:
+  mavros/mavros_node:
+    ros__parameters:
+      fcu_url: "udp://:[email protected]:14558" # Autopilot address for connection
+      tgt_system: 2 # Target system ID
+
+drone2:
+  mavros/mavros_node:
+    ros__parameters:
+      fcu_url: "udp://:[email protected]:14559" # Autopilot address for connection
+      tgt_system: 3 # Target system ID
+
+drone3:
+  mavros/mavros_node:
+    ros__parameters:
+      fcu_url: "udp://:[email protected]:14560" # Autopilot address for connection
+      tgt_system: 4 # Target system ID