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SITL: Fixes, improvements to Airsim multi-vehicle script

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1. Kill all running Copter binaries while exiting
2. Set default GCS IP address
3. Fix mcast ip address for different platforms
4. Set variable for number of vehicles
This commit is contained in:
Rajat Singhal 2019-11-20 15:41:22 +05:30 committed by Randy Mackay
parent b0ea662c9b
commit 6a075b2556
1 changed files with 43 additions and 6 deletions
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49
libraries/SITL/examples/Airsim/follow-copter.sh
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@ -1,10 +1,44 @@
#!/bin/bash #!/bin/bash
# Example script for multi-vehicle simulation with AirSim
# see http://ardupilot.org/dev/docs/sitl-with-airsim.html#multi-vehicle-simulation for details
# Usage - From ardupilot root directory, run - libraries/SITL/examples/Airsim/follow-copter.sh $GCS_IP
# $GCS_IP is the IP address of the system running the GCs, by default is 127.0.0.1
# Kill all SITL binaries when exiting
trap "killall -9 arducopter" SIGINT SIGTERM EXIT
# assume we start the script from the root directory # assume we start the script from the root directory
ROOTDIR=$PWD ROOTDIR=$PWD
COPTER=$ROOTDIR/build/sitl/bin/arducopter COPTER=$ROOTDIR/build/sitl/bin/arducopter
GCS_IP=$1 # Set GCS_IP address
if [ -z $1 ]; then
GCS_IP="127.0.0.1"
else
GCS_IP=$1
fi
# Check if Platform is Native Linux, WSL or Cygwin
# Needed for correct multicast addressing
unameOut="$(uname -s)"
if [ "$(expr substr $unameOut 1 5)" == "Linux" ]; then
# Check for WSL
if grep -q Microsoft /proc/version; then
MCAST_IP_PORT="127.0.0.1:14550"
# Native Linux
else
MCAST_IP_PORT="" # Use default IP, port
fi
elif [ "$(expr substr $unameOut 1 6)" == "CYGWIN" ]; then
MCAST_IP_PORT="0.0.0.0:14550"
fi
BASE_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/copter.parm,$ROOTDIR/libraries/SITL/examples/Airsim/quadX.parm" BASE_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/copter.parm,$ROOTDIR/libraries/SITL/examples/Airsim/quadX.parm"
@ -13,13 +47,16 @@ BASE_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/copter.parm,$ROOTDIR/libra
./waf copter ./waf copter
} }
# start up main rover in the current directory # start up main copter in the current directory
$COPTER --model airsim-copter --uartA udpclient:$GCS_IP --uartC mcast: --defaults $BASE_DEFAULTS & $COPTER --model airsim-copter --uartA udpclient:$GCS_IP --uartC mcast:$MCAST_IP_PORT --defaults $BASE_DEFAULTS &
# Set number of extra copters to be simulated, change this for increasing the count
NCOPTERS="1"
# now start another copter to follow the first, using # now start another copter to follow the first, using
# a separate directory to keep the eeprom.bin and logs separate # a separate directory to keep the eeprom.bin and logs separate
# for increasing the number of copters, change the number in seq for i in $(seq $NCOPTERS); do
for i in $(seq 1); do
echo "Starting copter $i" echo "Starting copter $i"
mkdir -p copter$i mkdir -p copter$i
@ -36,7 +73,7 @@ FOLL_SYSID $FOLL_SYSID
FOLL_DIST_MAX 1000 FOLL_DIST_MAX 1000
EOF EOF
pushd copter$i pushd copter$i
$COPTER --model airsim-copter --uartA tcp:0 --uartC mcast: --instance $i --defaults $BASE_DEFAULTS,follow.parm & $COPTER --model airsim-copter --uartA tcp:0 --uartC mcast:$MCAST_IP_PORT --instance $i --defaults $BASE_DEFAULTS,follow.parm &
popd popd
done done
wait wait