I am trying to get two different IRIS drones to travel at different speeds in the multi-vehicle gazebo SITL environment. I am able to have them travel in different directions, but regardless of the relative magnitudes of the two velocity setpoints issued, I cannot get one to move faster / slower than the other.
Targets were published in offboard mode using MAVROS and PositionTarget messages with the typemask set to only consider velocities and yaw.
I also noticed that using the ParamSet service through a single instance of MAVROS results in a parameter change for all PX4 instances, so setting different maximum speeds does not resolve the issue.
I do not completely understand the current multi-vehicle implementation, and am unsure of the cause of this interference. Does anybody more familiar with this know if this issue can be resolved under the current multi-vehicle framework?