Multi Vehicle Gazebo SITL port configuration

Benja · June 14, 2023, 7:28pm

Hi @spitkowsky
in SITL the mavlink instances are started by

PX4/PX4-Autopilot/blob/fc357921fd69e574a3f596be25faa8f4d9cdcea9/ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink

#!/bin/sh
# shellcheck disable=SC2154

udp_offboard_port_local=$((14580+px4_instance))
udp_offboard_port_remote=$((14540+px4_instance))
[ "$px4_instance" -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
udp_onboard_payload_port_local=$((14280+px4_instance))
udp_onboard_payload_port_remote=$((14030+px4_instance))
udp_onboard_gimbal_port_local=$((13030+px4_instance))
udp_onboard_gimbal_port_remote=$((13280+px4_instance))
udp_gcs_port_local=$((18570+px4_instance))

# GCS link
mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local

This file has been truncated. show original

You can adapt it for your needs!