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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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Spawn Multiple Iris from single sdf file #19739

Open NishanthARao opened 2 years ago

NishanthARao commented 2 years ago

There are two Iris UAVs that need to be physically connected by a rod. I am trying to simulate this in Gazebo, and want to use mavros and PX4 SITL. How can I do this? I have a sdf file that spawns this model (two Iris UAVs with a cylindrical rod under a single "model" sdf tag) but I don't understand how to add the mavlink interfaces and write the launch file.

The multi_uav spawn file provided by default is of no use, as it spawns multiple iris written in a single .sdf file

It would be of great support if anyone can help me on this.

yanedwar commented 3 months ago

Hi, I was wondering if you solved this problem or if anyone else has any pointers to help because I am going through this exact same issue as well. I need two drones created from one sdf file to have separate mavlink ids and px4 instances. It seems like that each model or sdf file is assigned a mavlink id as a whole so both uavs will fly from one px4 instance, which is a problem. Does someone have a work around (I am using gazebo-classic).