29 lines
703 B
Bash
29 lines
703 B
Bash
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#!/bin/bash
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source /opt/ros/$ROS_DISTRO/setup.bash
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gz sim -v -r $WORLD_FILE_NAME &
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while true
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do
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topics=$(gz topic -l)
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echo $topics
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if [[ $topics == *"/world/$WORLD_NAME"* ]]
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then
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break
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fi
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sleep 1
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done
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if [[ -z $SIM_DRONE_COUNT ]]
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then
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exit 0
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fi
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cd ./models/$DRONE_MODEL
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for (( j=0; j<$SIM_DRONE_COUNT; j++ ));
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do
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xacro -v fdm_port_in:=$((9002 + ($j * 10))) model.xacro.sdf -o model.sdf
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value=$(</home/gz-workspace/ardupilot_gazebo/models/$DRONE_MODEL/model.sdf)
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#-string is better than using -file option. File is not up to date in the next iteration.
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ros2 run ros_gz_sim create -world $WORLD_NAME -string "$value" -name spiri-$j -x $j -y 0 -z 0.195
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done
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exec "$@"
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