mirror of https://github.com/ArduPilot/ardupilot
57 lines
1.6 KiB
Bash
Executable File
57 lines
1.6 KiB
Bash
Executable File
#!/bin/bash
|
|
|
|
# Example script for multi-vehicle simulation with AirSim and usage with ROS
|
|
# see https://ardupilot.org/dev/docs/sitl-with-airsim.html#multi-vehicle-simulation for details
|
|
|
|
# Usage - From ardupilot root directory, run - libraries/SITL/examples/Airsim/multi_vehicle.sh $GCS_IP
|
|
# $GCS_IP is the IP address of the system running the GCS, by default is 127.0.0.1
|
|
|
|
# Kill all SITL binaries when exiting
|
|
trap "killall -9 arducopter" SIGINT SIGTERM EXIT
|
|
|
|
# assume we start the script from the root directory
|
|
ROOTDIR=$PWD
|
|
COPTER=$ROOTDIR/build/sitl/bin/arducopter
|
|
|
|
# Set GCS_IP address
|
|
if [ -z $1 ]; then
|
|
GCS_IP="127.0.0.1"
|
|
else
|
|
GCS_IP=$1
|
|
fi
|
|
|
|
BASE_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/copter.parm,$ROOTDIR/Tools/autotest/default_params/airsim-quadX.parm"
|
|
|
|
[ -x "$COPTER" ] || {
|
|
./waf configure --board sitl
|
|
./waf copter
|
|
}
|
|
|
|
# start up main copter in the current directory
|
|
$COPTER --model airsim-copter --uartA udpclient:$GCS_IP:14550 --uartB tcp:0 --defaults $BASE_DEFAULTS &
|
|
|
|
# Set number of "extra" copters to be simulated, change this for increasing the count
|
|
NCOPTERS="1"
|
|
|
|
|
|
# now start another copter, using
|
|
# a separate directory to keep the eeprom.bin and logs separate
|
|
for i in $(seq $NCOPTERS); do
|
|
echo "Starting copter $i"
|
|
mkdir -p copter$i
|
|
|
|
SYSID=$(expr $i + 1)
|
|
UDP_PORT=$((14550 + $i * 10))
|
|
|
|
# create seperate parameter file for each drone for SYSID
|
|
cat <<EOF > copter$i/identity.parm
|
|
SYSID_THISMAV $SYSID
|
|
EOF
|
|
|
|
pushd copter$i
|
|
$COPTER --model airsim-copter --uartA udpclient:$GCS_IP:$UDP_PORT --uartB tcp:$i \
|
|
--instance $i --defaults $BASE_DEFAULTS,identity.parm &
|
|
popd
|
|
done
|
|
wait
|