Individual control of multiple drones and local body frame movement with ROS2 wrapper

[liewyungjun]

Bug report

What's the issue you encountered?

The ROS2 wrapper does not seem to allow sending indivdual position goals to multiple drones. I am not sure if the vehicle_name field in the SetLocalPositon.srv is being read.\ Also, there does not seem to be a way to command drones to move in directions relative to its local body frame.\ I may have missed these features, please let me know if that is the case.

Settings

  "Drone_1": {
  "VehicleType": "SimpleFlight",
  "X": 8.0, "Y": 0.0, "Z": 0,
  "Pitch": 0, "Roll": 0, "Yaw": 0
},
"Drone_2": {
  "VehicleType": "SimpleFlight",
  "X": 10.0, "Y": 0.0, "Z": 0,
  "Pitch": 0, "Roll": 0, "Yaw": 0
}

How can the issue be reproduced?

1. Calling /airsim_node/local_position_goal moves only one drone (I think Drone_2)