From a5fbda33b27513a67b0f9c411fad9c5528b7452c Mon Sep 17 00:00:00 2001 From: Miguel Fernandez Cortizas Date: Wed, 3 Jul 2024 11:23:45 +0000 Subject: [PATCH] [feat] updated params for multi-vehicle simulation --- config/mavros_config.yaml | 28 ++++++++++++++++++++++++++-- 1 file changed, 26 insertions(+), 2 deletions(-) diff --git a/config/mavros_config.yaml b/config/mavros_config.yaml index d3af526..78a03e2 100644 --- a/config/mavros_config.yaml +++ b/config/mavros_config.yaml @@ -1,9 +1,33 @@ /**: ros__parameters: - fcu_url: "udp://:14540@127.0.0.1:14557" # Autopilot address for connection + # fcu_url: "udp://:14540@127.0.0.1:14557" # 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://:14540@127.0.0.1:14557" # Autopilot address for connection + tgt_system: 1 # Target system ID + +drone1: + mavros/mavros_node: + ros__parameters: + fcu_url: "udp://:14541@127.0.0.1:14558" # Autopilot address for connection + tgt_system: 2 # Target system ID + +drone2: + mavros/mavros_node: + ros__parameters: + fcu_url: "udp://:14542@127.0.0.1:14559" # Autopilot address for connection + tgt_system: 3 # Target system ID + +drone3: + mavros/mavros_node: + ros__parameters: + fcu_url: "udp://:14543@127.0.0.1:14560" # Autopilot address for connection + tgt_system: 4 # Target system ID