Sensors and Visual Camera and Map

Activate the environment

source ~/px4/bin/activate

Run the codes

cd ~/agent
python3 multi_drone_visual_api_complete_v3.py --port 8088
python3 sensors_service_multi.py
multi_drone_map_server.py

Check the detection

Detection API

http://localhost:8088/drone2/scene
http://localhost:8088/drone1/scene

Video

http://localhost:8088/drone1/video.mjpg
http://localhost:8088/drone2/video.mjpg

Sensors API

http://localhost:8001/sensors
http://localhost:8001/sensors/1
http://localhost:8001/sensors/2

MAP

Multi:

http://localhost:8002/fleet?ids=1,2

Singles:

http://localhost:8002/map1
http://localhost:8002/map1

============================================================================

Running both drones

• Drone # 1:

PX4_SYS_AUTOSTART=4002 PX4_GZ_MODEL_POSE="268.08,-128.22,3.86,0.00,0,-0.7" PX4_GZ_MODEL=x500_depth ./build/px4_sitl_default/bin/px4 -i 0

• Drone # 2:

PX4_SYS_AUTOSTART=4002 PX4_GZ_MODEL_POSE="268.08,-126.22,3.86,0,0,-0.7" PX4_GZ_MODEL=x500_depth ./build/px4_sitl_default/bin/px4 -i 1

============================================================================

Sensor code for both drones

Running the sensors:

sensors_service_multi.py
python sensors_service_multi.py --vehicle id=1,url=udp://:14540,grpc=50051 --vehicle id=2,url=udp://:14541,grpc=50052 --hz 1.0 --port 8001

python sensors_service_multi.py \
  --vehicle id=1,url=udp://:14540,grpc=50051 \
  --vehicle id=2,url=udp://:14541,grpc=50052 \
  --hz 1.0 --port 8001

  
http://localhost:8001/sensors/1
http://localhost:8001/sensors/1

Endpoints you can hit

http://localhost:8001/sensors/1 → Drone 1 (UDP 14540 ↔ gRPC 50051)
http://localhost:8001/sensors/2 → Drone 2 (UDP 14541 ↔ gRPC 50052)
http://localhost:8001/sensors → both snapshots in one JSON
http://localhost:8001/sensors?drone=1 → single snapshot (compat-style)

This keeps your architecture clean: each drone has a dedicated MAVSDK gRPC server (System(port=...)) and a separate UDP link, and the web API exposes both neatly. If you later add more drones, just append more --vehicle flags.

---

python3 multi_drone_visual_api_complete_v3.py --port 8088

(px4) (base) px4@UAV-Research:~/Downloads$ python3 multi_drone_visual_api_complete.py --port 8088

============================================================================ Run the drone bridge ros2 with gazebo. cd ~/Micro-XRCE-DDS-Agent MicroXRCEAgent udp4 -p 8888

---

Drone 1 (UDP 14540 -> gRPC 50051)

drone1 = System(port=50051)
await drone1.connect(system_address="udp://:14540")

Drone 2 (UDP 14541 -> gRPC 50052)

drone2 = System(port=50052)
await drone2.connect(system_address="udp://:14541")

============================================================================

Try the endpoints

Live video:

http://localhost:8088/drone1/video.mjpg
http://localhost:8088/drone2/video.mjpg

###JSON:

http://localhost:8088/drone1/scene | /drone1/history
http://localhost:8088/drone2/scene | /drone2/history

Snapshot:

http://localhost:8088/drone1/take_photo (saved as images/drone1_photo_*.jpg), same for drone2.

(px4) (base) px4@UAV-Research:~/Downloads$ python3 multi_drone_visual_api_complete.py --port 8088

============================================================================

Multi-Drone

cd ~/agent/tmp && ros2 run ros_gz_bridge parameter_bridge
--ros-args -p config_file:=$HOME/agent/tmp/bridge2.yaml

============================================================================

For Single drone bridge the topi

ros2 run ros_gz_bridge parameter_bridge /clock@rosgraph_msgs/msg/Clock@gz.msgs.Clock /camera@sensor_msgs/msg/Image@gz.msgs.Image /camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo /depth_camera@sensor_msgs/msg/Image@gz.msgs.Image /depth_camera/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked /world/default/model/x500_depth_0/link/base_link/sensor/imu_sensor/imu@sensor_msgs/msg/Imu@gz.msgs.IMU

cd ~/Documents/uav_enterprise_app_enterprise
python app.py   --sensors "id=1,url=udp://:14540,grpc=50051"   --sensors "id=2,url=udp://:14541,grpc=50052"   --drone "name=drone1,rgb=/drone1/camera,depth=/drone1/depth_camera,info=/drone1/camera_info,sensors=http://localhost:8090/sensors/1"   --drone "name=drone2,rgb=/drone2/camera,depth=/drone2/depth_camera,info=/drone2/camera_info,sensors=http://localhost:8090/sensors/2"   --host 0.0.0.0 --port 8090

http://localhost:8090/healthz
http://localhost:8090/readyz
http://localhost:8090/metrics
http://localhost:8090/sensors
http://localhost:8090/sensors/1 (and /2)
http://localhost:8090/perception/scene?drone=drone1
http://localhost:8090/perception/history?drone=drone1
http://localhost:8090/fusion/scene
http://localhost:8090/stream/scene?drone=drone1&hz=10
http://localhost:8090/video.mjpg?drone=drone1