Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-28 10:46:33 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

docs: gz: update docs for multi vehicle simulation (#24822)

Browse Source
This commit is contained in:
Jacob Dahl
2025-05-10 11:20:14 -08:00
committed by GitHub
parent 406f0bb470
commit a8618691f0
2 changed files with 11 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim
+1 -1
View File
@@ -28,7 +28,7 @@ else
exit 1 exit 1
fi fi
# If not standalone # If not standalone launch the world
if [ -z "${PX4_GZ_STANDALONE}" ]; then if [ -z "${PX4_GZ_STANDALONE}" ]; then
# Look for an already running world # Look for an already running world
docs/en/sim_gazebo_gz/multi_vehicle_simulation.md
+10 -5
View File
@@ -37,18 +37,23 @@ This allows for greater flexibility and customization.
- First follow the installation instructions for [Gazebo](../sim_gazebo_gz/index.md). - First follow the installation instructions for [Gazebo](../sim_gazebo_gz/index.md).
- Then configure your system for [ROS 2 / PX4 operations](../ros2/user_guide.md#installation-setup). - Then configure your system for [ROS 2 / PX4 operations](../ros2/user_guide.md#installation-setup).
- In different terminals manually start a multi vehicle simulation. - In different terminals manually start a multi vehicle simulation.
This example spawns 2 X500 Quadrotors and aFPX fixed-wing: 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**
:::
```sh ```sh
PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 1 PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 1
``` ```
**Terminal 2**
```sh ```sh
PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,1" PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 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**
```sh ```sh
PX4_SYS_AUTOSTART=4003 PX4_GZ_MODEL_POSE="0,2" PX4_SIM_MODEL=gz_rc_cessna ./build/px4_sitl_default/bin/px4 -i 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
``` ```
- Start the agent: - Start the agent: