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gazebo multiple sim: use xacro from the sitl_gazebo repository 

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
JaeyoungLim 2019-12-11 17:04:57 +01:00 committed by Lorenz Meier
parent 0b649326c3
commit f653be75c0
1 changed files with 1 additions and 1 deletions
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2
Tools/gazebo_sitl_multiple_run.sh
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@ -36,7 +36,7 @@ while [ $n -lt $sitl_num ]; do
pushd "$working_dir" &>/dev/null
echo "starting instance $n in $(pwd)"
../bin/px4 -i $n -d "$src_path/ROMFS/px4fmu_common" -w sitl_iris_${n} -s etc/init.d-posix/rcS >out.log 2>err.log &
xacro ${src_path}/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.xacro rotors_description_dir:=${src_path}/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$((14560+$n)) mavlink_tcp_port:=$((4560+$n)) --inorder > /tmp/${PX4_SIM_MODEL}_${n}.urdf
python3 ${src_path}/Tools/sitl_gazebo/scripts/xacro.py ${src_path}/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.xacro rotors_description_dir:=${src_path}/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(($mavlink_udp_port+$n)) mavlink_tcp_port:=$(($mavlink_tcp_port+$n)) -o /tmp/${PX4_SIM_MODEL}_${n}.urdf
echo "Spawning ${PX4_SIM_MODEL}_${n}"
gz model --spawn-file=/tmp/${PX4_SIM_MODEL}_${n}.urdf --model-name=${PX4_SIM_MODEL}_${n} -x 0.0 -y ${n} -z 0.0