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.

Changelog for package fss_bringup

0.1.2 (2026-09-18)

0.1.1 (2026-08-19 21:18)

• chore: bump all packages to 0.1.1 for ROS release
• Contributors: Peixuan Shu

0.1.0 (2026-08-19 20:25)

• Add README.md for fss_bringup package with launch instructions
  • Introduced a new README.md file for the fss_bringup package.
  • Documented integrated FastSwarmSim launch files for PX4 and perfect-drone simulations.
  • Provided example commands for launching single and multi-drone setups with LiDAR and RViz.
  • Explained configuration options for time coordination, sensing, and RViz visualization.
• Refactor code structure for improved readability and maintainability
• feat: update RViz configurations, enhance point cloud rendering, and improve performance settings
• feat: enhance launch files and visualizer node for improved performance and modularity
• feat: update RViz configuration for PX4 drone with new point cloud topics and visualization settings
• Add RViz configuration for PX4 drone with LIDAR visualization
  • Created a new RViz configuration file [sim_px4_drone_lidar_single.rviz]{.title-ref}
  • Configured panels for Displays, Selection, Tool Properties, and Views
  • Set up visualization manager with grid, axes, odometry, robot model, markers, and path displays
  • Defined global options including background color and fixed frame
  • Included tools for interaction, camera movement, and goal setting
• Refactor and add launch files for drone simulation and sensing
  • Removed the main.cpp file from marsim_render/test directory.
  • Added perfect_drone.launch.py to launch a single drone simulation with configurable parameters.
  • Introduced perfect_swarm.launch.py to launch multiple drone simulations based on user-defined count.
  • Created sensing.launch.py for launching the local point cloud simulation with configurable parameters.
  • Added time.yaml configuration for the time broker settings.
  • Implemented distributed_clock.launch.py to manage distributed clock synchronization with configurable parameters.
• feat: Update launch and configuration parameters for broker integration; add UI for sim time control
• Refactor fss_time interfaces and implement HELICS-based time coordination
  • Removed obsolete message and service definitions: TimeIntent, TimeControl, TimeRequest, ClientRegister, ClientUnregister.
  • Introduced SimClockStatus message to encapsulate simulation clock state.
  • Updated SimClockControl service to include a message field for feedback.
  • Implemented HelicsBrokerBackend and HelicsThreadParticipantBackend for managing HELICS broker and federate interactions.
  • Created SimTimeBroker to manage simulation time and publish status updates.
  • Developed thread_time_participant for thread-specific time management.
  • Added ROS nodes for clock publishing and broker management.
  • Included tests for time participant behavior and broker functionality.
  • Documented the fss_time package and its dependencies.
• Refactor fss_time to integrate HELICS for distributed time coordination
  • Removed existing time transport implementation files: time_transport.cpp, time_transport_serialization.cpp, test_distributed_time_core.cpp, test_ecal_time_transport.cpp, test_time_transport_serialization.cpp.
  • Introduced HELICS-based time coordination with new files: helics_time_coordinator.hpp, helics_time_coordinator.cpp, helics_broker_node.cpp.
  • Added verification script for HELICS integration: verify_fss_time_helics.sh.
  • Created documentation for HELICS time coordination: fss_time_helics.md.
  • Implemented unit tests for HELICS time coordinator functionality: test_helics_time_coordinator.cpp.
• Rename FastSwarmSim packages to fss prefix
• Contributors: Peixuan Shu, peixuan shu