From 3078feb2fbddc0fcd751a7a0f1507d06d4307fc6 Mon Sep 17 00:00:00 2001
From: Burak Ozter <burak.ozter@spirirobotics.com>
Date: Fri, 1 Nov 2024 12:47:35 -0300
Subject: [PATCH] 
 https://git.spirirobotics.com/Spiri/spiri-sdk/pulls/6#issuecomment-818 and
 fix drone name

---
 guiTools/spawn_drones.sh | 21 ++++++++++++---------
 1 file changed, 12 insertions(+), 9 deletions(-)

diff --git a/guiTools/spawn_drones.sh b/guiTools/spawn_drones.sh
index 4047359..a5429c3 100644
--- a/guiTools/spawn_drones.sh
+++ b/guiTools/spawn_drones.sh
@@ -1,11 +1,17 @@
 #!/bin/bash
-
+set -e #PR #6
 source /opt/ros/$ROS_DISTRO/setup.bash
+
+if [[ -z $SIM_DRONE_COUNT ]]
+then
+  echo "SIM_DRONE_COUNT environment variable is not set."
+  exit 1
+fi
+
 gz sim -v -r $WORLD_FILE_NAME &
 while true
 do
   topics=$(gz topic -l)
-  echo $topics
   if [[ $topics == *"/world/$WORLD_NAME"* ]]
   then
     break
@@ -13,17 +19,14 @@ do
   sleep 1
 done
 
-if [[ -z $SIM_DRONE_COUNT ]]
-then
-  exit 0
-fi
-
 cd /ardupilot_gazebo/models/$DRONE_MODEL
 for (( j=0; j<$SIM_DRONE_COUNT; j++ ));
 do
     xacro -v gstreamer_udp_port:=$(($GSTREAMER_UDP_PORT + ($j * 10))) fdm_port_in:=$(($FDM_PORT_IN + ($j * 10))) model.xacro.sdf -o model.sdf
+    #! string is better than using -file option. File is not up to date in the next iteration.
     value=$(</ardupilot_gazebo/models/$DRONE_MODEL/model.sdf)
-    #-string is better than using -file option. File is not up to date in the next iteration.
-    ros2 run ros_gz_sim create -world $WORLD_NAME -string "$value" -name spiri-$j -x $j  -y 0 -z 0.195 ##Possible read from text file for formation of drones.
+    gz_drone_name=spiri-$(($j + 1))
+    #? Maybe read from text file for formation of drones? x y z r p y
+    ros2 run ros_gz_sim create -world $WORLD_NAME -string "$value" -name $gz_drone_name -x $j  -y 0 -z 0.195
 done
 exec "$@"
\ No newline at end of file