多无人机协同gazebo仿真代码

### 多无人机协同仿真代码

对于多无人机（Multi-UAV）系统的协同仿真，Gazebo是一个广泛使用的机器人模拟环境。下面提供一段基于ROS-Gazebo框架下的Python节点示例代码，用于启动多个四旋翼飞行器实例并设置基本通信逻辑。

#!/usr/bin/env python

import rospy
from geometry_msgs.msg import PoseStamped
from mavros_msgs.srv import CommandBool, SetMode
from std_srvs.srv import Trigger


def arm_and_takeoff(uav_id):
    """Arms UAV and commands it to take off."""
    
    arming_service = f"/uav{uav_id}/mavros/cmd/arming"
    set_mode_service = f"/uav{uav_id}/mavros/set_mode"

    try:
        rospy.wait_for_service(arming_service)
        arm_uav = rospy.ServiceProxy(arming_service, CommandBool)
        response = arm_uav(True)

        if not response.success:
            raise Exception(f"Failed to arm uav {uav_id}")

        rospy.wait_for_service(set_mode_service)
        change_mode = rospy.ServiceProxy(set_mode_service, SetMode)
        mode_response = change_mode(custom_mode="GUIDED")

        if not mode_response.mode_sent:
            raise Exception(f"Failed to switch modes for uav {uav_id}")
        
        print(f"UAV-{uav_id} armed successfully.")
        
    except rospy.ServiceException as e:
        print(e)


if __name__ == '__main__':
    rospy.init_node('multi_uav_coop_sim', anonymous=True)

    num_of_drones = int(rospy.get_param("~num_of_drones", "3"))

    # Arm all drones sequentially.
    for i in range(1, num_of_drones + 1):
        arm_and_takeoff(i)

    rate = rospy.Rate(10)  # 10hz
    
    while not rospy.is_shutdown():
        # Insert collaborative logic here based on mission requirements.

        rate.sleep()

这段脚本实现了对指定数量无人机构建集群，并依次完成起飞准备动作的功能[^1]。需要注意的是实际应用中还需加入更多细节处理如路径规划、避障等功能模块以满足不同场景需求。