For some time I have been working in developing Swarm applications. AS the University I work in acquired 5 erlecopters I have been trying to build a simulation example using what is provided.
In order to do so I have made some changes to both the URDF files and the ardupilot_gazebo_sitl_plugin on the erlebot github account. I was wondering if these changes would be of interest to the community and so I post here a link to my github account for those interested. If people at Erlerobotics should be interested in merging this with their own stuff I would more that happy to collaborate.
So for the ardupilot_sitl_gazebo_plugin I had to focus on making the port numbers (to and from Gazebo) and input rather than a define. My repo for this can be found here https://github.com/Hurisa/ardupilot_sitl_gazebo_plugin.
The URDF files can be found in my other repo "multi_uav" here https://github.com/Hurisa/multi_uav. The changed files are in the folder multi_uav/urdf. All the files that are not there are being used from the Erlerobot github account are used as is. Besides, on the multi_uav repo you will find the empty.world file was also modified and, in this file you can see how the ardupilot_sitl_gazebo_plugin is used to change port numbers.
I should say that I'm using the ardupilot branch at git://github.com/ArduPilot/ardupilot.git which I believe is different than the one provided by Erle.
I know that some of it might be a little sloppy still, but I'd welcome any input!
As a proof of concept I have a couple of videos on youtube
[Cropped and sped up]
Hopefully someone will find this useful.
Cheers, and thank you very much for this community for helping me with the countless questions I had along the way!