XTDrone-多机仿真-配置教程

启动python脚本生成多机launch文件

cd ~/XTDrone/coordination/launch_generator
python3 generator.py

将生成出来的launch文件复制到PX4固件的launch文件夹

cp ~/XTDrone/coordination/launch_generator/multi_vehicle.launch ~/PX4_Firmware/launch/

启动多机PX4仿真

cd ~/PX4_Firmware/
roslaunch px4 multi_vehicle.launch

键入如下命令修改启动脚本

gedit ~/XTDrone/communication/multi_vehicle_communication.sh

#!/bin/bash
iris_num=0
typhoon_h480_num=0
solo_num=3
plane_num=3
rover_num=3
standard_vtol_num=0
tiltrotor_num=0
tailsitter_num=0
# 上面是需要按照所启动的无人机的数量进行相应的修改

vehicle_num=0
while(( $vehicle_num< iris_num)) 
do
    python3 multirotor_communication.py iris $vehicle_num&
    let "vehicle_num++"
done

vehicle_num=0
while(( $vehicle_num< typhoon_h480_num)) 
do
    python3 multirotor_communication.py typhoon_h480 $vehicle_num&
    let "vehicle_num++"
done

vehicle_num=0
while(( $vehicle_num< solo_num)) 
do
    python3 multirotor_communication.py solo $vehicle_num&
    let "vehicle_num++"
done

vehicle_num=0
while(( $vehicle_num< plane_num)) 
do
    python3 plane_communication.py $vehicle_num&
    let "vehicle_num++"
done

vehicle_num=0
while(( $vehicle_num< rover_num)) 
do
    python3 rover_communication.py $vehicle_num&
    let "vehicle_num++"
done

vehicle_num=0
while(( $vehicle_num< standard_vtol_num)) 
do
    python3 vtol_communication.py standard_vtol $vehicle_num&
    let "vehicle_num++"
done

vehicle_num=0
while(( $vehicle_num< tiltrotor_num)) 
do
    python3 vtol_communication.py tiltrotor $vehicle_num&
    let "vehicle_num++"
done

vehicle_num=0
while(( $vehicle_num< tailsitter_num)) 
do
    python3 vtol_communication.py tailsitter $vehicle_num&
    let "vehicle_num++"
done

注意：需要以python3来运行.py文件！！！

然后输入如下命令运行此脚本建立通信

cd ~/XTDrone/communication
bash multi_vehicle_communication.sh

连接成功后的示例：

建立通信后，可以在control目录下分别启动对应机型的键盘控制脚本，即可实现利用键盘同时控制多机型。

具体方法示例：

启动3架solo和3架iris四旋翼无人机的键盘控制脚本

分别在两个窗口输入如下命令

cd ~/XTDrone/control/keyboard
python3 multirotor_keyboard_control.py solo 3 vel

注意：第二个参数“3”需要改成前面launch文件中所启动的solo无人机个数

cd ~/XTDrone/control/keyboard
python3 multirotor_keyboard_control.py iris 3 vel

注意：第二个参数“3”需要改成前面launch文件中所启动的solo无人机个数

键盘控制脚本起飞后就可以在各个键盘中控制同类无人机的飞行了

多无人机起飞后的仿真效果：