fss_bringup

This package provides integrated FastSwarmSim launch files. Each launch combines the PX4 or perfect-drone simulator, optional local LiDAR point-cloud sensing, the fss_time coordinator, vehicle visualization, and RViz.

# One PX4 vehicle with LiDAR sensing and RViz.
ros2 launch fss_bringup sim_px4_drone_lidar_single.launch.py

# A three-vehicle PX4 swarm with LiDAR sensing and RViz.
ros2 launch fss_bringup sim_px4_drone_lidar_multi.launch.py num_drones:=3

# Use MAVROS-compatible perfect drones instead of PX4 simulation.
ros2 launch fss_bringup sim_px4_drone_lidar_multi.launch.py \
  num_drones:=5 use_perfect_drone:=true

Both launches use the FastSwarmSim coordinated clock by default. Set use_fss_sim_time:=false to disable lock-step time coordination, sensing_enable:=false to omit local LiDAR in the multi-drone launch, or enable_sensing:=false in the single-drone launch. Use rviz_enable:=false for multi-drone runs or enable_rviz:=false for single-drone runs to launch without RViz.

The multi-drone launch assigns the namespaces uav1, uav2, and so on. It accepts drones_per_row, startup_batch_size, and startup_batch_delay_ms to control formation layout and staged startup.