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Add options to spawn multiple vehicles in different worlds (#14764)

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Since SITL gazebo now has the ability to spawn vehicles to different worlds, this can be done for simulating multiple vehicles
This commit is contained in:
JaeyoungLim
2020-04-27 11:57:47 +02:00
committed by GitHub
parent 2b276a3ad8
commit e669e999e2
1 changed files with 3 additions and 2 deletions
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5
Tools/gazebo_sitl_multiple_run.sh
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@@ -17,17 +17,19 @@ then
exit 1
fi
while getopts n:m: option
while getopts n:m:w: option
do
case "${option}"
in
n) NUM_VEHICLES=${OPTARG};;
m) VEHICLE_MODEL=${OPTARG};;
w) WORLD=${OPTARG};;
esac
done
num_vehicles=${NUM_VEHICLES:=3}
export PX4_SIM_MODEL=${VEHICLE_MODEL:=iris}
world=${WORLD:=empty}
if [ "$PX4_SIM_MODEL" != "iris" ] && [ "$PX4_SIM_MODEL" != "plane" ] && [ "$PX4_SIM_MODEL" != "standard_vtol" ]
then
@@ -47,7 +49,6 @@ src_path="$SCRIPT_DIR/.."
build_path=${src_path}/build/px4_sitl_default
mavlink_udp_port=14560
mavlink_tcp_port=4560
world="empty"
echo "killing running instances"
pkill -x px4 || true