forked from Archive/PX4-Autopilot
rcS-posix: use ROS_DOMAIN_ID to set XRCE_DDS_DOM_ID
set XRCE_DDS_KEY to MAV_SYS_ID to avoid collisions Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
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@ -129,6 +129,7 @@ fi
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# multi-instance setup
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# shellcheck disable=SC2154
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param set MAV_SYS_ID $((px4_instance+1))
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param set XRCE_DDS_KEY $((px4_instance+1))
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if [ $AUTOCNF = yes ]
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then
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@ -268,8 +269,7 @@ navigator start
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microdds_ns=""
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if [ "$px4_instance" -ne "0" ]
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then
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# Assign new xrce dds key based on instance number and set default namespace
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param set XRCE_DDS_KEY ${px4_instance}
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# for multi intances setup, add namespace prefix
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microdds_ns="-n px4_$px4_instance"
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fi
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if [ -n "$PX4_MICRODDS_NS" ]
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@ -277,6 +277,13 @@ then
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# Override namespace if environment variable is defined
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microdds_ns="-n $PX4_MICRODDS_NS"
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fi
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if [ -n "$ROS_DOMAIN_ID" ]
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then
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# Match XRCE_DDS_DOM_ID with ROS_DOMAIN_ID, if defined
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param set XRCE_DDS_DOM_ID $ROS_DOMAIN_ID
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else
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param set XRCE_DDS_DOM_ID 0
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fi
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microdds_client start -t udp -h 127.0.0.1 -p 8888 $microdds_ns
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if param greater -s MNT_MODE_IN -1
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