Initial support for multirobot

osrf / vehicle_gateway

A pluginlib-based C++ library that interfaces with several vehicle SDK's

Apache License 2.0

49 stars 8 forks source link

Initial support for multirobot #104

Closed ahcorde closed 1 year ago

ahcorde commented 1 year ago

This PR adds two things:

If there is no gz instance running, it should run one, if there is a gz instance running it should only spawn a model in the current gz instance.
Allow to modify the PX4 uxrce dds port for multirobot propeses in the same DOMAIN_ID. It requires this PR upstream https://github.com/PX4/PX4-Autopilot/pull/21570

codebot commented 1 year ago

Not entirely sure what happened with the test failure; seems it throws a backtrace here: https://github.com/osrf/vehicle_gateway/blob/ahcorde/initial_multirobot_support/vehicle_gateway_integration_test/test/test_px4.py#L151

Perhaps we need a check just before that line to see if the process has already exited before calling .name() on it? I can't see how that relates to this PR, but maybe I'm missing something.

codebot commented 1 year ago

This works great for me :tada: after slightly adjusting my workspace to use your PX4-Autopilot fork, but it seems they will soon merge your PR upstream.

I think it makes sense to merge this as-is in order to keep the PR's small and easier to review. There are lots of things we can do to build on this to help with usability, like having a YAML or JSON or some other format to specify the a "fleet" with vehicle names and launch pad names, etc., but anyway I think it's good to hold those for subsequent PR's. This is awesome :tada:

codebot commented 1 year ago

nit: I made a 1-line change so that the spawned Gazebo model name includes the drone_id suffix, rather than the previous hard-coded _0