yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

5
Tools/gazebo_sitl_multiple_run.sh
View File

@@ -17,17 +17,19 @@ then
exit 1 exit 1
fi fi
while getopts n:m: option while getopts n:m:w: option
do do
case "${option}" case "${option}"
in in
n) NUM_VEHICLES=${OPTARG};; n) NUM_VEHICLES=${OPTARG};;
m) VEHICLE_MODEL=${OPTARG};; m) VEHICLE_MODEL=${OPTARG};;
w) WORLD=${OPTARG};;
esac esac
done done
num_vehicles=${NUM_VEHICLES:=3} num_vehicles=${NUM_VEHICLES:=3}
export PX4_SIM_MODEL=${VEHICLE_MODEL:=iris} export PX4_SIM_MODEL=${VEHICLE_MODEL:=iris}
world=${WORLD:=empty}
if [ "$PX4_SIM_MODEL" != "iris" ] && [ "$PX4_SIM_MODEL" != "plane" ] && [ "$PX4_SIM_MODEL" != "standard_vtol" ] if [ "$PX4_SIM_MODEL" != "iris" ] && [ "$PX4_SIM_MODEL" != "plane" ] && [ "$PX4_SIM_MODEL" != "standard_vtol" ]
then then
@@ -47,7 +49,6 @@ src_path="$SCRIPT_DIR/.."
build_path=${src_path}/build/px4_sitl_default build_path=${src_path}/build/px4_sitl_default
mavlink_udp_port=14560 mavlink_udp_port=14560
mavlink_tcp_port=4560 mavlink_tcp_port=4560
world="empty"
echo "killing running instances" echo "killing running instances"
pkill -x px4 || true pkill -x px4 || true