Hello, everyone,
I've been using Gazebo, the Pixhawk SITL simulator and the ardupilot_sitl_gazebo_plugin package to simulate one quadrotor running the ArduCopter firmware. This is the tutorial I followed to get things working: http://docs.erlerobotics.com/simulation/configuring_your_environment.
For what I understood, the dynamics of the quadrotor, the IMU and GPS sensors are all simulated by the SITL and the arducopter_sitl_gazebo_plugin sends these information to Gazebo, synchronizing the two simulators. Now I want to simulate a swarm of these quadrotors (maybe 3 or 4). I am able to run multiple instances of the SITL simulator, however the plugin apparently was made with just one quadrotor in mind, so it connects to just one instance. I thought about changing the plugin's code, however I'm afraid that I don't have enough knowledge in C++ to do so. Has anyone had the same problem and can point me in the right direction to make this work? Or maybe does anyone know a better way to simulate a swarm of drones running the Pixhawk firmware?
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