Simplified ArduPilot SITL launcher for multi-drone simulations. Runs multiple ArduPilot SITL instances in parallel, managed by a central process supervisor that merges the standard output streams of individual processes and configures the SITL instances to start the drones from a grid-like formation.
We use poetry to manage a Python virtual environment that will contain all
the dependencies. Install poetry first if you don't have it yet, then follow
these steps:
-
Clone this repository.
-
Run
poetry installto create a virtualenv and install all the dependencies in it. -
Run
poetry run ap-sitl-swarm SITL_PATHto launch a single SITL instance with a pre-compiled SITL executable at${SITL_PATH}. Use the-hswitch for more options.
Tested on Linux and macOS. May or may not work on Windows.
Copyright 2022 CollMot Robotics Ltd.
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.