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Fixes for ROS based multi sim with jinja. (#15938)

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James Goppert 2020-10-12 03:33:51 -04:00 committed by GitHub
parent 8350fa702b
commit 98c30dff44
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2 changed files with 5 additions and 5 deletions
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2
Tools/sitl_gazebo

@ -1 +1 @@
Subproject commit 6b9c8f15c24b9ca365f3b13978fe792aa31a2fa3
Subproject commit b943edaddee2b5e84e7bb489c43ebb13dd70495d

8
launch/single_vehicle_spawn.launch
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@ -19,14 +19,14 @@
<arg name="mavlink_tcp_port" default="4560"/>
<!-- PX4 configs -->
<arg name="interactive" default="true"/>
<!-- generate urdf vehicle model -->
<arg name="cmd" default="$(find xacro)/xacro $(find px4)/Tools/sitl_gazebo/models/rotors_description/urdf/$(arg vehicle)_base.xacro rotors_description_dir:=$(find px4)/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(arg mavlink_udp_port) mavlink_tcp_port:=$(arg mavlink_tcp_port) --inorder"/>
<param command="$(arg cmd)" name="rotors_description"/>
<!-- generate sdf vehicle model -->
<arg name="cmd" default="$(find mavlink_sitl_gazebo)/scripts/jinja_gen.py --stdout --mavlink_udp_port=$(arg mavlink_udp_port) --mavlink_tcp_port=$(arg mavlink_tcp_port) $(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf.jinja $(find mavlink_sitl_gazebo)"/>
<param command="$(arg cmd)" name="sdf_$(arg vehicle)$(arg ID)"/>
<!-- PX4 SITL -->
<arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
<arg if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
</node>
<!-- spawn vehicle -->
<node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-urdf -param rotors_description -model $(arg vehicle)_$(arg ID) -package_to_model -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
<node name="$(anon vehicle_spawn)" pkg="gazebo_ros" type="spawn_model" output="screen" args="-sdf -param sdf_$(arg vehicle)$(arg ID) -model $(arg vehicle)$(arg ID) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
</launch>