From 79651ed6a4a687cfb86d5897efcfe9d15c285e49 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Mon, 13 May 2019 10:35:09 +0200
Subject: [PATCH] launch: count multi UAVs from 0
This fixes the IDs of multi UAVs started with ROS/Gazebo.
Previously the 3 vehicles were displayed in QGC as Vehicle 2, 3, 4.
With this change it is more intuitive Vehicle 1, 2, 3 and this is
also consistent with the way it is documented and how it is in
jMAVSim.
---
launch/multi_uav_mavros_sitl.launch | 39 ++++++++++++++---------------
1 file changed, 19 insertions(+), 20 deletions(-)
diff --git a/launch/multi_uav_mavros_sitl.launch b/launch/multi_uav_mavros_sitl.launch
index 560ebd1621..279d027cc1 100644
--- a/launch/multi_uav_mavros_sitl.launch
+++ b/launch/multi_uav_mavros_sitl.launch
@@ -19,11 +19,11 @@
<arg name="verbose" value="$(arg verbose)"/>
<arg name="paused" value="$(arg paused)"/>
</include>
- <!-- UAV1 -->
- <group ns="uav1">
+ <!-- UAV0 -->
+ <group ns="uav0">
<!-- MAVROS and vehicle configs -->
- <arg name="ID" value="1"/>
- <arg name="fcu_url" default="udp://:14541@localhost:14581"/>
+ <arg name="ID" value="0"/>
+ <arg name="fcu_url" default="udp://:14540@localhost:14580"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn.launch">
<arg name="x" value="0"/>
@@ -33,23 +33,23 @@
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="$(arg vehicle)"/>
- <arg name="mavlink_udp_port" value="14561"/>
- <arg name="mavlink_tcp_port" value="4561"/>
+ <arg name="mavlink_udp_port" value="14560"/>
+ <arg name="mavlink_tcp_port" value="4560"/>
<arg name="ID" value="$(arg ID)"/>
</include>
<!-- MAVROS -->
<include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="gcs_url" value=""/>
- <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
+ <arg name="tgt_system" value="$(eval 0 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
- <!-- UAV2 -->
- <group ns="uav2">
+ <!-- UAV1 -->
+ <group ns="uav1">
<!-- MAVROS and vehicle configs -->
- <arg name="ID" value="2"/>
- <arg name="fcu_url" default="udp://:14542@localhost:14582"/>
+ <arg name="ID" value="1"/>
+ <arg name="fcu_url" default="udp://:14541@localhost:14581"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn.launch">
<arg name="x" value="1"/>
@@ -59,8 +59,8 @@
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="$(arg vehicle)"/>
- <arg name="mavlink_udp_port" value="14562"/>
- <arg name="mavlink_tcp_port" value="4562"/>
+ <arg name="mavlink_udp_port" value="14561"/>
+ <arg name="mavlink_tcp_port" value="4561"/>
<arg name="ID" value="$(arg ID)"/>
</include>
<!-- MAVROS -->
@@ -71,12 +71,11 @@
<arg name="tgt_component" value="1"/>
</include>
</group>
-
- <!-- UAV3 -->
- <group ns="uav3">
+ <!-- UAV2 -->
+ <group ns="uav2">
<!-- MAVROS and vehicle configs -->
- <arg name="ID" value="3"/>
- <arg name="fcu_url" default="udp://:14543@localhost:14583"/>
+ <arg name="ID" value="2"/>
+ <arg name="fcu_url" default="udp://:14542@localhost:14582"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn.launch">
<arg name="x" value="0"/>
@@ -86,8 +85,8 @@
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="$(arg vehicle)"/>
- <arg name="mavlink_udp_port" value="14563"/>
- <arg name="mavlink_tcp_port" value="4563"/>
+ <arg name="mavlink_udp_port" value="14562"/>
+ <arg name="mavlink_tcp_port" value="4562"/>
<arg name="ID" value="$(arg ID)"/>
</include>
<!-- MAVROS -->
--
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