spiri-sdk/.env

#Manual edit not needed unless desired set of DRONE_SYS_ID's are different.
DRONE_SYS_ID=1 #sim_drone.py increments this env variable.
#this is used for multi-vehicle sim. first/single vehicle would have these.
TRACKER_INSTANCE=0
SERIAL0_PORT=5760
SITL_PORT=5501
MAVROS2_PORT=14560
MAVROS1_PORT=14561
#This is the vehicle ardupilot will use. Default value is for SITL + Gazebo
#E.g. "-v copter" , "-v rover"
ARDUPILOT_VEHICLE="-v ArduCopter -f gazebo-iris --model=JSON"

#these below are used in spawn_drones.sh to create the world with the correct entities.
#Number of drones to be spawned in the gazebo world.
SIM_DRONE_COUNT=2
#This is not needed to be modified.
FDM_PORT_IN=9002
#The world file you want to use.
WORLD_FILE_NAME="citadel_hill_world.sdf"
#World name in your world file. Not the same as world file name necessarily.
#Important for spawning entities in the correct world.
WORLD_NAME="citadel_hill"
#Vehicle model folder name where model.config and model.xacro.sdf are present.
DRONE_MODEL="spiri_mu"
#Gstreamer UDP Port for each drone
GSTREAMER_UDP_PORT=5600
#ros 1
ROS_MASTER_URI=http://0.0.0.0:11311