Симуляція кількох рухомих засобів з Gazebo

This topic explains how to simulate multiple UAV vehicles using Gazebo (Gz) and SITL.

INFO

Multi-Vehicle Simulation with Gazebo is only supported on Linux.

У Gazebo дуже легко налаштувати сценарії з кількома рухомими засобами (у порівнянні з іншими симуляторами).

Спочатку зберіть код PX4 SITL:

make px4_sitl

Each instance of PX4 can then be launched in its own terminal, specifying a unique instance number and its desired combination of environment variables:

ARGS ./build/px4_sitl_default/bin/px4 [-i <instance>]

• <instance>: The instance number of the vehicle.
  • Кожен рухомий засіб повинен мати унікальний номер екземпляру. Якщо він не вказаний, номер екземпляру за замовчуванням - нуль.
  • When used with PX4_SIM_MODEL, Gazebo will automatically pick a unique model name in the form ${PX4_SIM_MODEL}_instance.
• ARGS: A list of environmental variables, as described in Gazebo Simulation > Usage/Configuration Options.

Це дозволяє підвищити гнучкість та адаптивність.

Кілька рухомих засобів з ROS 2 та Gazebo

Multiple vehicles with ROS 2 are possible.

• First follow the installation instructions for Gazebo.

• Then configure your system for ROS 2 / PX4 operations.

• В різних терміналах вручну запустіть симуляцію декількох рухомих засобів. This example spawns 2 X500 Quadrotors and aFPX fixed-wing.

  INFO

  Note that in the first terminal you do not specify standalone mode. The first terminal will start the gz-server and the other two instances will connect to it.

:::

Terminal 1

PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 1

Terminal 2

PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,1" PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 2

Terminal 3

PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4003 PX4_GZ_MODEL_POSE="0,2" PX4_SIM_MODEL=gz_rc_cessna ./build/px4_sitl_default/bin/px4 -i 3

• Запустіть агента:

  MicroXRCEAgent udp4 -p 8888

  Агент автоматично з'єднається з усіма клієнтами.

• Run ros2 topic list to see the topic list, which should look like this:

/parameter_events
/px4_1/fmu/in/obstacle_distance
/px4_1/fmu/in/offboard_control_mode
/px4_1/fmu/in/onboard_computer_status
/px4_1/fmu/in/sensor_optical_flow
/px4_1/fmu/in/telemetry_status
/px4_1/fmu/in/trajectory_setpoint
/px4_1/fmu/in/vehicle_attitude_setpoint
/px4_1/fmu/in/vehicle_command
/px4_1/fmu/in/vehicle_mocap_odometry
/px4_1/fmu/in/vehicle_rates_setpoint
/px4_1/fmu/in/vehicle_trajectory_bezier
/px4_1/fmu/in/vehicle_trajectory_waypoint
/px4_1/fmu/in/vehicle_visual_odometry
/px4_1/fmu/out/failsafe_flags
/px4_1/fmu/out/sensor_combined
/px4_1/fmu/out/timesync_status
/px4_1/fmu/out/vehicle_attitude
/px4_1/fmu/out/vehicle_control_mode
/px4_1/fmu/out/vehicle_global_position
/px4_1/fmu/out/vehicle_gps_position
/px4_1/fmu/out/vehicle_local_position
/px4_1/fmu/out/vehicle_odometry
/px4_1/fmu/out/vehicle_status
/px4_2/fmu/in/obstacle_distance
/px4_2/fmu/in/offboard_control_mode
/px4_2/fmu/in/onboard_computer_status
/px4_2/fmu/in/sensor_optical_flow
/px4_2/fmu/in/telemetry_status
/px4_2/fmu/in/trajectory_setpoint
/px4_2/fmu/in/vehicle_attitude_setpoint
/px4_2/fmu/in/vehicle_command
/px4_2/fmu/in/vehicle_mocap_odometry
/px4_2/fmu/in/vehicle_rates_setpoint
/px4_2/fmu/in/vehicle_trajectory_bezier
/px4_2/fmu/in/vehicle_trajectory_waypoint
/px4_2/fmu/in/vehicle_visual_odometry
/px4_2/fmu/out/failsafe_flags
/px4_2/fmu/out/sensor_combined
/px4_2/fmu/out/timesync_status
/px4_2/fmu/out/vehicle_attitude
/px4_2/fmu/out/vehicle_control_mode
/px4_2/fmu/out/vehicle_global_position
/px4_2/fmu/out/vehicle_gps_position
/px4_2/fmu/out/vehicle_local_position
/px4_2/fmu/out/vehicle_odometry
/px4_2/fmu/out/vehicle_status
/px4_3/fmu/in/obstacle_distance
/px4_3/fmu/in/offboard_control_mode
/px4_3/fmu/in/onboard_computer_status
/px4_3/fmu/in/sensor_optical_flow
/px4_3/fmu/in/telemetry_status
/px4_3/fmu/in/trajectory_setpoint
/px4_3/fmu/in/vehicle_attitude_setpoint
/px4_3/fmu/in/vehicle_command
/px4_3/fmu/in/vehicle_mocap_odometry
/px4_3/fmu/in/vehicle_rates_setpoint
/px4_3/fmu/in/vehicle_trajectory_bezier
/px4_3/fmu/in/vehicle_trajectory_waypoint
/px4_3/fmu/in/vehicle_visual_odometry
/px4_3/fmu/out/failsafe_flags
/px4_3/fmu/out/sensor_combined
/px4_3/fmu/out/timesync_status
/px4_3/fmu/out/vehicle_attitude
/px4_3/fmu/out/vehicle_control_mode
/px4_3/fmu/out/vehicle_global_position
/px4_3/fmu/out/vehicle_gps_position
/px4_3/fmu/out/vehicle_local_position
/px4_3/fmu/out/vehicle_odometry
/px4_3/fmu/out/vehicle_status
/rosout