Mutiple drones in Gazebo

[keep_coding (Brian)]

I have connected SITL with Gazebo and I want to run 2 drones in the same Gazebo session. So far I have run 1 drone, in the Gazebo environment, with the following command:
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --map --console
Given that 2 autopilot instances will be now run, should I change anything in the above command before running it once for each drone?

[samnt178 (Sam Nathanael)]

Hi @keep_coding were you able to spawn and control multiple drones in the same session? I am trying to something similiar, I want to control the drones using pymavlink . I found a few old resources online
https://discuss.ardupilot.org/uploads/default/original/2X/d/d7083377f747deab79798e7a9cef58d433ff5f66.pdf
it is meant for gazebo-classic but with a few minor changes I was able to spawn the drones in Gazebo Harmonic.
But when i tried using the command in the instructions

sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --map --console -I<instance no.>

I get a link down error, still trying to figure out the issue.

Issues with Multi-UAV Simulation on Gazebo Harmonic

Hello @samnt178, the link is down because the simulation pauses until each drone has a corresponding SITL instance running. In addition to defining a separate port for each vehicle in the Gazebo plugin, each vehicle must have a separate instance of the arducopter binary running (with the appropriate instance number incremented).