Hi Everyone,
I am trying to simulate a group of UAVs using the ardupilot in gazebo. So far I have been able to actually bring up two different instances of the erlecopter in gazebo but I keep getting the same message:
ARI: Cannot receive input from Ardu, for the port is not open !
as for that I also show my launch file for two copters
<?xml version='1.0'?>
<launch>
<!-- start world -->
<arg name="simRate" default="nan"/>
<!-- Enable simulation clock -->
<param name="use_sim_time" type="bool" value="true" />
<arg name="world_name" default="$(find multi_uav)/worlds/empty.world" />
<arg name="gui" value="true" />
<arg name="headless" value="false" />
<env name="GAZEBO_MODEL_PATH" value="$(find ardupilot_sitl_gazebo_plugin)/meshes/meshes_sensors"/>
<!--<env name="GAZEBO_MODEL_PATH" value="$(find drcsim_model_resources)/gazebo_models/environments:$(find ardupilot_sitl_gazebo_plugin)/meshes/meshes_sensors:$(find ardupilot_sitl_gazebo_plugin)/meshes/meshes_outdoor:$(find ardupilot_sitl_gazebo_plugin)/meshes/meshes_warehouse"/>
-->
<group ns="uav">
<arg name="namespace" value="uav"/>
<arg name="enable_logging" default="true"/>
<arg name="enable_ground_truth" default="true"/>
<arg name="log_file" default="erlecopter1"/>
<include file="$(find mavros)/launch/apm_sitl.launch" >
<arg name="fcu_url" value="tcp://localhost:5760" />
<arg name="gcs_url" value="udp://:14550@" />
<arg name="tgt_system" value="1" />
<arg name="tgt_component" value="1" />
</include>
<arg name="name" default="erlecopter1"/>
<arg name="model" default="$(find ardupilot_sitl_gazebo_plugin)/urdf/erlecopter_base.xacro"/>
<arg name="tf_prefix" default="$(arg namespace)"/>
<arg name="debug" default="true"/>
<arg name="verbose" default="true"/>
<!-- Initial pose for the drone -->
<arg name="x" default="0.0"/> <!-- [m], positive to the North -->
<arg name="y" default="0.0"/> <!-- [m], negative to the East -->
<arg name="z" default="0.08"/> <!-- [m], positive Up -->
<arg name="roll" default="0"/> <!-- [rad] -->
<arg name="pitch" default="0"/> <!-- [rad] -->
<arg name="yaw" default="3.1415"/> <!-- [rad], negative clockwise -->
<!-- send the robot XML to param server -->
<param name="robot_description" command="
$(find xacro)/xacro --inorder '$(arg model)'
enable_logging:=$(arg enable_logging)
enable_ground_truth:=$(arg enable_ground_truth)
log_file:=$(arg log_file)
nspace:=$(arg namespace)"
/>
<param name="tf_prefix" type="string" value="$(arg tf_prefix)" />
<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="spawn_erlecopter" pkg="gazebo_ros" type="spawn_model"
args="-param robot_description
-urdf
-x $(arg x)
-y $(arg y)
-z $(arg z)
-R $(arg roll)
-P $(arg pitch)
-Y $(arg yaw)
-model $(arg name)"
respawn="false" output="screen" >
</node>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" output="screen"/>
</group>
<group ns="uav2">
<arg name="namespace" value="uav2"/>
<arg name="enable_logging" default="true"/>
<arg name="enable_ground_truth" default="true"/>
<arg name="log_file" default="erlecopter1"/>
<include file="$(find mavros)/launch/apm_sitl.launch" >
<arg name="fcu_url" value="tcp://127.0.0.1:5770" />
<arg name="gcs_url" value="udp://:14560@" />
<arg name="tgt_system" value="1" />
<arg name="tgt_component" value="1" />
</include>
<arg name="name" default="erlecopter2"/>
<arg name="model" default="$(find ardupilot_sitl_gazebo_plugin)/urdf/erlecopter_base.xacro"/>
<arg name="tf_prefix" default="$(arg namespace)"/>
<arg name="debug" default="true"/>
<arg name="verbose" default="true"/>
<!-- Initial pose for the drone -->
<arg name="x" default="0.0"/> <!-- [m], positive to the North -->
<arg name="y" default="1.0"/> <!-- [m], negative to the East -->
<arg name="z" default="0.08"/> <!-- [m], positive Up -->
<arg name="roll" default="0"/> <!-- [rad] -->
<arg name="pitch" default="0"/> <!-- [rad] -->
<arg name="yaw" default="3.1415"/> <!-- [rad], negative clockwise -->
<!-- send the robot XML to param server -->
<param name="robot_description" command="
$(find xacro)/xacro --inorder '$(arg model)'
enable_logging:=$(arg enable_logging)
enable_ground_truth:=$(arg enable_ground_truth)
log_file:=$(arg log_file)
nspace:=$(arg namespace)"
/>
<param name="tf_prefix" type="string" value="$(arg tf_prefix)" />
<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="spawn_erlecopter" pkg="gazebo_ros" type="spawn_model"
args="-param robot_description
-urdf
-x $(arg x)
-y $(arg y)
-z $(arg z)
-R $(arg roll)
-P $(arg pitch)
-Y $(arg yaw)
-model $(arg name)"
respawn="false" output="screen" >
</node>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" output="screen"/>
</group>
<include file="$(find multi_uav)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="world_name" value="$(arg world_name)"/>
</include>
</launch>
I also should note that in the world file I’m doing (which I think might be the issue)
<plugin name="ardupilot_sitl_gazebo_plugin_1" filename="libardupilot_sitl_gazebo_plugin.so">
<UAV_MODEL>uav/erlecopter</UAV_MODEL>
</plugin>
<plugin name="ardupilot_sitl_gazebo_plugin_2" filename="libardupilot_sitl_gazebo_plugin.so">
<UAV_MODEL>uav2/erlecopter</UAV_MODEL>
I was hoping someone on this forum, could help me. I also upload two images of the corresponding mavproxy instances I have at startup
.
If you need any more details let me know (I’m running Ubuntu 16.04 LTS and ROS kinetic.
Thank you all very much,
Hugo