I will be providing at some point this week my launch script for ROS2 for those that prefer something more “ROS integrated”, it spawns the models and opens an xterm window for each model. Furthermore, it can be set to automatically start the micrortps_client for any spawned model you choose while still allowing the other models to be non-RTPS if desired.
As I am new to Ros2, can you guys please explain exactly which commands to use to run multiple vehicles in Gazebo while opening multiple px4 shells as well so that I can enable a micrortps_client for each vehicle? I am not sure how to run this launch file that you provided. Thank you very much and I am very looking forward to a reply.