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spiri-sdk
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add gstreamer port

This commit is contained in:
Burak Ozter 2024-10-31 13:28:03 -03:00
parent 834a71b298
commit 5639f03d46
1 changed files with 1 additions and 1 deletions
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2
guiTools/spawn_drones.sh
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@ -21,7 +21,7 @@ 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 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 + ($j * 10))) model.xacro.sdf -o model.sdf
value=$(</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. #-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. 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.