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Update launch files to enable multi-video stream in SITL (#16497)

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* Update launch files to support multi-video stream in SITL

* Pass extra args to jinja_gen.py inside gazebo_sitl_multiple_run.sh to enable multi-video streaming
This commit is contained in:
Mohamed Abdelkader Zahana
2021-01-08 21:29:47 +03:00
committed by GitHub
parent 706f806943
commit 80dd841cad
3 changed files with 14 additions and 2 deletions
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9
launch/multi_uav_mavros_sitl.launch
View File

@@ -36,6 +36,9 @@
<arg name="mavlink_udp_port" value="14560"/>
<arg name="mavlink_tcp_port" value="4560"/>
<arg name="ID" value="$(arg ID)"/>
<arg name="gst_udp_port" value="$(eval 5600 + arg('ID'))"/>
<arg name="video_uri" value="$(eval 5600 + arg('ID'))"/>
<arg name="mavlink_cam_udp_port" value="$(eval 14530 + arg('ID'))"/>
</include>
<!-- MAVROS -->
<include file="$(find mavros)/launch/px4.launch">
@@ -62,6 +65,9 @@
<arg name="mavlink_udp_port" value="14561"/>
<arg name="mavlink_tcp_port" value="4561"/>
<arg name="ID" value="$(arg ID)"/>
<arg name="gst_udp_port" value="$(eval 5600 + arg('ID'))"/>
<arg name="video_uri" value="$(eval 5600 + arg('ID'))"/>
<arg name="mavlink_cam_udp_port" value="$(eval 14530 + arg('ID'))"/>
</include>
<!-- MAVROS -->
<include file="$(find mavros)/launch/px4.launch">
@@ -88,6 +94,9 @@
<arg name="mavlink_udp_port" value="14562"/>
<arg name="mavlink_tcp_port" value="4562"/>
<arg name="ID" value="$(arg ID)"/>
<arg name="gst_udp_port" value="$(eval 5600 + arg('ID'))"/>
<arg name="video_uri" value="$(eval 5600 + arg('ID'))"/>
<arg name="mavlink_cam_udp_port" value="$(eval 14530 + arg('ID'))"/>
</include>
<!-- MAVROS -->
<include file="$(find mavros)/launch/px4.launch">

5
launch/single_vehicle_spawn.launch
View File

@@ -17,10 +17,13 @@
<env name="PX4_ESTIMATOR" value="$(arg est)" />
<arg name="mavlink_udp_port" default="14560"/>
<arg name="mavlink_tcp_port" default="4560"/>
<arg name="gst_udp_port" default="5600"/>
<arg name="video_uri" default="5600"/>
<arg name="mavlink_cam_udp_port" default="14530"/>
<!-- PX4 configs -->
<arg name="interactive" default="true"/>
<!-- generate sdf vehicle model -->
<arg name="cmd" default="$(find mavlink_sitl_gazebo)/scripts/jinja_gen.py --stdout --mavlink_udp_port=$(arg mavlink_udp_port) --mavlink_tcp_port=$(arg mavlink_tcp_port) $(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf.jinja $(find mavlink_sitl_gazebo)"/>
<arg name="cmd" default="$(find mavlink_sitl_gazebo)/scripts/jinja_gen.py --stdout --mavlink_id=$(eval 1 + arg('ID')) --mavlink_udp_port=$(arg mavlink_udp_port) --mavlink_tcp_port=$(arg mavlink_tcp_port) --gst_udp_port=$(arg gst_udp_port) --video_uri=$(arg video_uri) --mavlink_cam_udp_port=$(arg mavlink_cam_udp_port) $(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf.jinja $(find mavlink_sitl_gazebo)"/>
<param command="$(arg cmd)" name="sdf_$(arg vehicle)$(arg ID)"/>
<!-- PX4 SITL -->
<arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>