I am trying a new algorithm for formation control.
My architecture is made by 2 raspberry PI3 running a simulation of PX4 SILT using this command:
no_sim=1 make px4_sitl_default none
This works and the simulator waits for a TCP connection on the port 4560.
A PC connected in the same lan of RPis, runs the gazebo simulation:
roslaunch gazebo_ros empty_world.launch world_name:=$(pwd)/Tools/sitl_gazebo/worlds/iris.world
The problem is that I am not understanding properly how to configure gazebo simulator such that it connects to the RPis.
I also gave a look to the launch files in Tools/launch, for instance in multi_uav_mavros_silt it has a parameter called fcu_url, i tried to set it, but the simulator is not connecting to the px4 simulation in RPi.
Could you please tell me where I can find a resource to learn how to do this configuration?