Spiri/spiri-sdk
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Use cycloneDDS and make world name an env var
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This commit is contained in:
Alex Davies 2024-11-29 14:18:45 -04:00
parent 8f49f6cffd
commit 25bf2267d9
2 changed files with 3 additions and 2 deletions
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3
.env
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@ -7,6 +7,7 @@ MAVROS1_PORT=14561
FDM_PORT_IN=9002
GSTREAMER_UDP_PORT=5600
ROS_MASTER_URI="http://0.0.0.0:11311"
RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ARDUPILOT_VEHICLE="-v copter -f gazebo-mu --model=JSON -L CitadelHill"
@ -16,4 +17,4 @@ DRONE_MODEL="spiri_mu"
SIM_DRONE_COUNT=1
GCS_PORT=14550
GCS_PORT=14550

2
guiTools/spiri_sdk_guitools/sim_drone.py
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@ -117,7 +117,7 @@ class Spirimu(Robot):
robots.add(self)
#Ros doesn't like dashes in node names
self.robot_name = f"{self.robot_type}_{self.sysid}".replace("-","_")
self.world_name = "citadel_hill"
self.wold_name = os.environ.get("WORLD_NAME", "citadel_hill")
@classmethod
async def launch_widget(cls, robots_widget):