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* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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Multi-Vehicle Симуляція з ROS 2
XRCE-DDS allows for multiple clients to be connected to the same agent over UDP. Це особливо корисно в симуляції, якщо потрібно запустити лише один агент.
Налаштування та вимоги
Єдині вимоги
- To be able to run multi-vehicle simulation without ROS 2 with the desired simulator (Gazebo, Gazebo Classic, FlightGear and JMAVSim).
- To be able to use ROS 2 in a single vehicle simulation.
Принцип операції
In simulation each PX4 instance receives a unique px4_instance number starting from 0.
This value is used to assign a unique value to UXRCE_DDS_KEY:
param set UXRCE_DDS_KEY $((px4_instance+1))
:::info
By doing so, UXRCE_DDS_KEY will always coincide with MAV_SYS_ID.
:::
Moreover, when px4_instance is greater than zero, a unique ROS 2 namespace prefix in the form px4_$px4_instance is added:
uxrce_dds_ns="-n px4_$px4_instance"
:::info
The environment variable PX4_UXRCE_DDS_NS, if set, will override the namespace behavior described above.
:::
The first instance (px4_instance=0) does not have an additional namespace in order to be consistent with the default behavior of the xrce-dds client on a real vehicle.
This mismatch can be fixed by manually using PX4_UXRCE_DDS_NS on the first instance or by starting adding vehicles from index 1 instead of 0 (this is the default behavior adopted by sitl_multiple_run.sh for Gazebo Classic).
Типове налаштування клієнта у симуляції:
PX4_UXRCE_DDS_NS |
px4_instance |
UXRCE_DDS_KEY |
client namespace |
|---|---|---|---|
| not provided | 0 | px4_instance+1 |
нічого |
| provided | 0 | px4_instance+1 |
PX4_UXRCE_DDS_NS |
| not provided | > 0 | px4_instance+1 |
px4_${px4_instance} |
| provided | > 0 | px4_instance+1 |
PX4_UXRCE_DDS_NS |
Adjusting the target_system value
PX4 accepts VehicleCommand messages only if their target_system field is zero (broadcast communication) or coincides with MAV_SYS_ID.
У всіх інших ситуаціях повідомлення ігноруються.
Therefore, when ROS 2 nodes want to send VehicleCommand to PX4, they must ensure that the messages are filled with the appropriate target_system value.
For example, if you want to send a command to your third vehicle, which has px4_instance=2, you need to set target_system=3 in all your VehicleCommand messages.