add formation_control_sitl

Signed-off-by: Qi <[email protected]>

Author: potato77

CMakeLists.txt

@@ -234,6 +234,13 @@ target_link_libraries(payload_drop
   ${catkin_LIBRARIES}
 )
 
+add_executable(formation_control_sitl
+  src/Application/formation_control_sitl.cpp
+)
+add_dependencies(formation_control_sitl px4_command_gencpp)
+target_link_libraries(formation_control_sitl
+  ${catkin_LIBRARIES}
+)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the

launch/SITL_ude.launch launch/SITL.launch

@@ -0,0 +1,6 @@
+##sitl_gazebo
+gnome-terminal --window -e 'bash -c "roscore; exec bash"' \
+--tab -e 'bash -c "sleep 2; roslaunch px4 three_uav_mavros_sitl.launch; exec bash"' \
+--tab -e 'bash -c "sleep 5; rosrun px4_command formation_control_sitl; exec bash"' \
+--tab -e 'bash -c "sleep 5; rosrun px4_command move; exec bash"' \
+

sh/sh_for_simulation/sitl_gazebo_formation.sh

@@ -1,6 +1,6 @@
 ##sitl_gazebo
 gnome-terminal --window -e 'bash -c "roscore; exec bash"' \
---tab -e 'bash -c "sleep 2; roslaunch px4_command SITL_ude.launch; exec bash"' \
+--tab -e 'bash -c "sleep 2; roslaunch px4_command SITL.launch; exec bash"' \
 --tab -e 'bash -c "sleep 2; roslaunch mavros px4.launch fcu_url:="udp://:[email protected]:14557"; exec bash"' \
 --tab -e 'bash -c "sleep 2; roslaunch px4_command px4_pos_controller.launch; exec bash"' \
 --tab -e 'bash -c "sleep 5; rosrun px4_command move; exec bash"' \

sh/sh_for_simulation/sitl_gazebo_pos_controller.sh

@@ -0,0 +1,8 @@
+##sitl_gazebo
+gnome-terminal --window -e 'bash -c "roscore; exec bash"' \
+--tab -e 'bash -c "sleep 2; roslaunch px4_command SITL.launch; exec bash"' \
+--tab -e 'bash -c "sleep 2; roslaunch mavros px4.launch fcu_url:="udp://:[email protected]:14557"; exec bash"' \
+--tab -e 'bash -c "sleep 2; roslaunch px4_command px4_pos_controller.launch; exec bash"' \
+--tab -e 'bash -c "sleep 5; rosrun px4_command move; exec bash"' \
+--tab -e 'bash -c "sleep 2; rosrun px4_command set_mode; exec bash"' \
+