{"id":28858278,"url":"https://github.com/discower/discower_launch","last_synced_at":"2025-07-19T13:38:03.441Z","repository":{"id":294206929,"uuid":"890263358","full_name":"DISCOWER/discower_launch","owner":"DISCOWER","description":"Launch files and the likes","archived":false,"fork":false,"pushed_at":"2025-07-03T13:48:10.000Z","size":37,"stargazers_count":1,"open_issues_count":0,"forks_count":0,"subscribers_count":0,"default_branch":"main","last_synced_at":"2025-07-03T14:50:37.026Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/DISCOWER.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2024-11-18T09:21:41.000Z","updated_at":"2025-07-03T13:48:16.000Z","dependencies_parsed_at":"2025-07-03T14:48:13.892Z","dependency_job_id":null,"html_url":"https://github.com/DISCOWER/discower_launch","commit_stats":null,"previous_names":["discower/discower_launch"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/DISCOWER/discower_launch","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/DISCOWER%2Fdiscower_launch","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/DISCOWER%2Fdiscower_launch/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/DISCOWER%2Fdiscower_launch/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/DISCOWER%2Fdiscower_launch/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/DISCOWER","download_url":"https://codeload.github.com/DISCOWER/discower_launch/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/DISCOWER%2Fdiscower_launch/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":265942582,"owners_count":23853294,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-06-20T02:06:13.878Z","updated_at":"2025-07-19T13:38:03.431Z","avatar_url":"https://github.com/DISCOWER.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# discower_launch: SITL launch files for Single and Multi-agent experiments\n\nThis repository contains launch files for running Single and Multi-agent ATMOS platform SITL simulations.\n\n## Dependencies\n\n- [PX4-Space-Systems](https://github.com/DISCOWER/PX4-Space-Systems)\n- [px4_msgs](https://github.com/DISCOWER/px4_msgs)\n\nAs this repository contains simple examples to merely run the SITL, you might need to follow additional instructions in the `PX4-Space-Systems` repository to fully get started. In short, you additionally need to\n\n- build the workspace: `colcon build --symlink-install`\n- start the microros service: `micro-xrce-dds-agent udp4 -p 8888`\n\nAfter that, you can display the robot's topics with `ros2 topic list`. Then, you can arm/disarm the robot with [QGroundControl](https://github.com/DISCOWER/qgroundcontrol). \n\nFurther details can be found on the [ATMOS website](https://atmos.discower.io/pages/Simulation/)\n\n## Launch files overview\n\nThis package provides four main launch files:\n\n- `sitl_single_agent.launch.py`: Launches a single agent on the default PX4 world.\n- `sitl_multi_agent.launch.py`: Launches multiple agents on the default PX4 world.\n- `sitl_single_agent_kth.launch.py`: Launches a single agent in the KTH Space Lab world **with** Gazebo-ROS odometry bridging enabled.\n- `sitl_multi_agent_kth.launch.py`: Launches multiple agents in the KTH Space Lab world **with** Gazebo-ROS odometry bridging enabled.\n\n\u003e **Note:** Gazebo-ROS odometry bridging requires an additional ROS package depending on your ROS2 distribution:\n\u003e\n\u003e - **ROS2 Humble:**\n\u003e\n\u003e   ```bash\n\u003e   sudo apt install ros-humble-ros-gzharmonic-bridge\n\u003e   ```\n\u003e\n\u003e - **ROS2 Jazzy:**\n\u003e\n\u003e   ```bash\n\u003e   sudo apt install ros-jazzy-ros-gz-bridge\n\u003e   ```\n\nThe bridged odometry simulates the motion capture system used in the real KTH Space Lab and publishes ground-truth data from Gazebo to ROS.\n\n## Testing a Multi-Agent setup\n\nFirst make sure that your environment variable for `PX4_SPACE_SYSTEMS_DIR` is set. This can be checked with:\n\n```bash\necho $PX4_SPACE_SYSTEMS_DIR\n```\n\nIf this is not set, you can set it at the end of your `.bashrc` (or `.zshrc`) file with:\n\n```bash\nexport PX4_SPACE_SYSTEMS_DIR=/path/to/your/PX4-Space-Systems\n```\n\nThen, test the multi-agent setup by running the following command:\n\n```bash\nros2 launch discower_launch sitl_multi_agent.launch.py\n```\n\n\u003e Alternatively, if you want to simulate in the `kthspacelab` world and use the Gazebo-ROS bridge, you can run:\n\n```bash\nros2 launch discower_launch sitl_multi_agent_kth.launch.py\n```\n\n## Adding extra ATMOS platforms\n\nIn the launch file, for each vehicle, you can set the namespaces and pose for each vehicle. To add an extra vehicle, add another instance of the `px4.launch.py` with a different `id` and with five extra seconds of delay. Make sure to also change the `pose` variable to avoid agents being deployed in the same position. An example can be found below:\n\n```python\nlf_3 = IncludeLaunchDescription(\n        PythonLaunchDescriptionSource(\n            [get_package_share_directory('discower_launch'), '/px4.launch.py']),\n\n        launch_arguments={'id': '3', 'pose': '-1.0, 1.75, 0', 'name': 'snap', 'delay': '10', 'world': 'kthspacelab'}.items()\n    )\n\nld.add_action(lf_3)\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fdiscower%2Fdiscower_launch","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fdiscower%2Fdiscower_launch","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fdiscower%2Fdiscower_launch/lists"}