README

Project to run multiple px4 SITL with Gazebo on Ubuntu 16.04 (Xenial).

Install
-------

1. cd install
2. sudo ./sudo_deps.sh
3. ./prepare.sh

ROS Kinetic + mavros support (if needed)
1. cd mavros/install
2. sudo ./sudo_deps.sh
3. ./prepare.sh
4. relogin


Configure
---------
For running in server+client mode change config.sh and client/gzclient.sh

Run
---

start.rb options:

some help:
 ./start.rb -h

one SITL instance, using iris model:
 ./start.rb

three iris_opt_flow models on x line:
 ./start.rb -m iris_opt_flow -n 3

work with custom world:
 cp default.world custom.world
 edit custom.world
 ./start.rb custom.world


Info
----

GCS mavlink ports for each SITL:
num       server(sitl)      client
1         15010             15015
2         15020             15025
...       ...               ...
n         15000+n*10        15000+n*10+5

Onboard mavlink ports for each SITL:
num       server(sitl)      client
1         15011             15016
2         15021             15026
...       ...               ...
n         15001+n*10        15001+n*10+5