Docker stacks for Ardupilot SITL multi-drone simulation.
Run cd stacks and then python make_stack -n <num-of-copters>.
You should then see docker-compose-<num-of-copters>.yml created in the stacks directory. Run docker-compose -f docker-compose-<num-of-copters>.yml up to start your cloud of simulators. Connect your favourite ground control software to tcp:localhost:5760 and you should see a long line of drones!
It also works as a Docker stack for swarm mode. Run docker stack deploy --compose-file docker-compose-<num-of-copters>.yml copters_<num-of-copters> to set if off. Early indications are that it could be a little slower in swarm mode on just one PC, but of course the benefit of swarm mode is spreading the load across multiple host nodes.
This package has been heavily rationalized to make use of off-the-shelf images from Docker hub, avoiding custom builds and DOCKERFILEs. This intends to enable swarm simulation deployment without having to maintain local registry data.
Each stack launches a number of SITL instances each with its own system ID. The stack also includes a single Mavlink router instance configured to connect to each of the SITL instances and channel the MAVLINK data to en exposed port 5760.