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spiri-sdk
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#6 (comment) and fix drone name

This commit is contained in:
Burak Ozter 2024-11-01 12:47:35 -03:00
parent dfdcb284f8
commit 3078feb2fb
1 changed files with 12 additions and 9 deletions
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21
guiTools/spawn_drones.sh
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@ -1,11 +1,17 @@
#!/bin/bash #!/bin/bash
set -e #PR #6
source /opt/ros/$ROS_DISTRO/setup.bash source /opt/ros/$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 & gz sim -v -r $WORLD_FILE_NAME &
while true while true
do do
topics=$(gz topic -l) topics=$(gz topic -l)
echo $topics
if [[ $topics == *"/world/$WORLD_NAME"* ]] if [[ $topics == *"/world/$WORLD_NAME"* ]]
then then
break break
@ -13,17 +19,14 @@ do
sleep 1 sleep 1
done done
if [[ -z $SIM_DRONE_COUNT ]]
then
exit 0
fi
cd /ardupilot_gazebo/models/$DRONE_MODEL cd /ardupilot_gazebo/models/$DRONE_MODEL
for (( j=0; j<$SIM_DRONE_COUNT; j++ )); for (( j=0; j<$SIM_DRONE_COUNT; j++ ));
do do
xacro -v gstreamer_udp_port:=$(($GSTREAMER_UDP_PORT + ($j * 10))) fdm_port_in:=$(($FDM_PORT_IN + ($j * 10))) model.xacro.sdf -o model.sdf xacro -v gstreamer_udp_port:=$(($GSTREAMER_UDP_PORT + ($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/$DRONE_MODEL/model.sdf) value=$(</ardupilot_gazebo/models/$DRONE_MODEL/model.sdf)
#-string is better than using -file option. File is not up to date in the next iteration. gz_drone_name=spiri-$(($j + 1))
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. #? 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 $j -y 0 -z 0.195
done done
exec "$@" exec "$@"