yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 01:12:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

implement gazebo simulation based on RTPS for multiple UAVs (#15463)

Browse Source 
- add t option for target
   - add iris_rtps model (PX4/sitl_gazebo#558)
This commit is contained in:
SungTae Moon
2020-08-08 20:19:19 +09:00
committed by GitHub
parent 3002e74b4f
commit 9707ac5316
3 changed files with 17 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

21
Tools/gazebo_sitl_multiple_run.sh
View File

@@ -9,15 +9,19 @@
function cleanup() {
pkill -x px4
pkill gzclient
pkill gzserver
}
function spawn_model() {
MODEL=$1
N=$2 #Instance Number
if [ "$MODEL" != "iris" ] && [ "$MODEL" != "plane" ] && [ "$MODEL" != "standard_vtol" ]
SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol")
if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL "* ]];
then
echo "Currently only the following vehicle models are supported! [iris, plane, standard_vtol]"
echo "ERROR: Currently only vehicle model $MODEL is not supported!"
echo " Supported Models: [${SUPPORTED_MODELS[@]}]"
trap "cleanup" SIGINT SIGTERM EXIT
exit 1
fi
@@ -47,7 +51,7 @@ then
exit 1
fi
while getopts n:m:w:s: option
while getopts n:m:w:s:t: option
do
case "${option}"
in
@@ -55,19 +59,20 @@ do
m) VEHICLE_MODEL=${OPTARG};;
w) WORLD=${OPTARG};;
s) SCRIPT=${OPTARG};;
t) TARGET=${OPTARG};;
esac
done
num_vehicles=${NUM_VEHICLES:=3}
export PX4_SIM_MODEL=${VEHICLE_MODEL:=iris}
world=${WORLD:=empty}
target=${TARGET:=px4_sitl_default}
export PX4_SIM_MODEL=${VEHICLE_MODEL:=iris}
echo ${SCRIPT}
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
src_path="$SCRIPT_DIR/.."
build_path=${src_path}/build/px4_sitl_default
build_path=${src_path}/build/${target}
mavlink_udp_port=14560
mavlink_tcp_port=4560
@@ -76,7 +81,7 @@ pkill -x px4 || true
sleep 1
source ${src_path}/Tools/setup_gazebo.bash ${src_path} ${src_path}/build/px4_sitl_default
source ${src_path}/Tools/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
echo "Starting gazebo"
gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose &