# parallel_simulation

**Repository Path**: ma_lan/parallel_simulation

## Basic Information

- **Project Name**: parallel_simulation
- **Description**: 基于XTDrone的平行仿真实验，任务场景：13架四旋翼无人机的编队飞行，涉及到无人机加入和退出队伍和集群队形变换。其中3架实物无人机，10架虚拟无人机
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 6
- **Forks**: 0
- **Created**: 2021-06-22
- **Last Updated**: 2025-09-12

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Parallel Simulation 

To simulate UAVs both in simulation and reality

## Introduction
Before your work, do as follows:
### 1.configure before catkin_make
1.move launch files to PX4_Firmware/launch
```bash
cd parallel-simulation
cp launch/* ~/PX4_Firmware/launch/
```
2.set parameter in qnode.hpp
```bash
int real_num = 0;  //when run simulation,make sure real_num=0
```

### 2.compile workspace
```bash
cd parallel-simulation/src
catkin_init_workspace
cd ..
catkin_make
source devel/setup.bash
```

### 3.set multi-instance port number (for simulation)
```bash
roscd px4
cd ROMFS/px4fmu_common/init.d-posix
gedit  rcS
```
modify the port as follows:
```bash
# multi-instance setup
# shellcheck disable=SC2154
param set MAV_SYS_ID $((px4_instance+1))
simulator_tcp_port=$((4560+px4_instance))
udp_offboard_port_local=$((34580+px4_instance))
udp_offboard_port_remote=$((24540+px4_instance))
# [ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
udp_onboard_payload_port_local=$((14280+px4_instance))
udp_onboard_payload_port_remote=$((14030+px4_instance))
udp_gcs_port_local=$((18570+px4_instance))

```

### 4.simulation start
1.start simulation environment
```bash
roslaunch px4 iris3_parallel_simulation.launch    # 3 UAVs in simulation
roslaunch px4 iris10_parallel_simulation.launch   # 10 UAVs in simulation
```
2.run main framework of control
```bash
mpiexec -n 3 python px4_control_sim.py    # 3 UAVs in simulation
mpiexec -n 10 python px4_control_sim.py   # 10 UAVs in simulation
```
3.run gcs
```bash
rosrun xtdrone_qt xtdrone_qt
```