Airsim receiver can accept pose messages from more than one gazebo instance #36
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Previously, there was a global message count. This was limiting us to exactly 1 sUAS engine. But when deploying to the HPC cluster we get better results when we deploy more than one sUAS engine. So every time we send a pose message for the "red" drone, we will number each message, starting at 1, then counting up by one for each subsequent message. And every time we send a pose message for the "blue" drone, we will do the same thing, starting at one, and counting up by one each time. Please note our drones are "named" using a 16bit integer, but the concept still applies.
| spawn_unique_drone(vehicle_interface, pose_message->drone_id, pose_message->drone); | ||
| } | ||
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| // Please recall that the message count starts at 1, and increments by 1 each time | ||
| // also each drone has its own message count | ||
| // if the message count is greater than the last message count, then we have new information | ||
| if (pose_message->message_counter > msg_count) { |
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I wonder if messages can be received in different order than they are sent. Also, should we have a another incremental count on reciver side too? If the largest message count for that drone and total received message count is not name, that will imply packet loss.
| @@ -41,18 +41,37 @@ void PoseHandlers::set_drone_pose( | |||
| bool *exit_flag | |||
| ) { | |||
| uint64_t msg_count = 0; | |||
| std::unordered_map<uint16_t, uint64_t> messageCount; | |||
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Requires #include <unordered_map>
| // no, we have not seen this drone before | ||
| // let's clear the message count | ||
| // and spawn a new drone | ||
| msg_count = 0; | ||
| spawn_unique_drone(vehicle_interface, pose_message->drone_id, pose_message->drone); |
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This spawns a new drone with id 0 as soon as program starts.
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airsim receiver can accept pose messages from more than one gazebo instance
Fixes #35
To implement this we need to:
So every time we send a pose message for the "red" drone, we must number each message, starting at 1, then counting up by one for each subsequent message.
And every time we send a pose message for the "blue" drone, we will do the same thing, starting at one, and counting up by one each time.
Please note our drones are "named" using a 16bit integer, but the concept still applies.