px4-firmware/Tools/gazebo_sitl_multiple_run.sh

83 lines
2.3 KiB
Bash
Executable File

#!/bin/bash
# run multiple instances of the 'px4' binary, with the gazebo SITL simulation
# It assumes px4 is already built, with 'make px4_sitl_default'
# The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
# For example gazebo can be run like this:
#./Tools/gazebo_sitl_multiple_run.sh -n 10 -m iris
function cleanup() {
pkill -x px4
pkill gzclient
}
if [ "$1" == "-h" ] || [ "$1" == "--help" ]
then
echo "Usage: $0 [-n <num_vehicles>] [-m <vehicle_model>]"
exit 1
fi
while getopts n:m: option
do
case "${option}"
in
n) NUM_VEHICLES=${OPTARG};;
m) VEHICLE_MODEL=${OPTARG};;
esac
done
num_vehicles=${NUM_VEHICLES:=3}
export PX4_SIM_MODEL=${VEHICLE_MODEL:=iris}
if [ "$PX4_SIM_MODEL" != "iris" ] & [ "$PX4_SIM_MODEL" != "plane" ]
then
echo "Currently only iris and plane vehicle model is supported!"
exit 1
fi
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
src_path="$SCRIPT_DIR/.."
build_path=${src_path}/build/px4_sitl_default
mavlink_udp_port=14560
mavlink_tcp_port=4560
world="empty"
echo "killing running instances"
pkill -x px4 || true
sleep 1
source ${src_path}/Tools/setup_gazebo.bash ${src_path} ${src_path}/build/px4_sitl_default
echo "Starting gazebo"
gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose &
sleep 5
n=0
while [ $n -lt $num_vehicles ]; do
working_dir="$build_path/instance_$n"
[ ! -d "$working_dir" ] && mkdir -p "$working_dir"
pushd "$working_dir" &>/dev/null
echo "starting instance $n in $(pwd)"
../bin/px4 -i $n -d "$src_path/ROMFS/px4fmu_common" -w sitl_${PX4_SIM_MODEL}_${n} -s etc/init.d-posix/rcS >out.log 2>err.log &
python3 ${src_path}/Tools/sitl_gazebo/scripts/xacro.py ${src_path}/Tools/sitl_gazebo/models/rotors_description/urdf/${PX4_SIM_MODEL}_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}_${n}.urdf
gz sdf -p /tmp/${PX4_SIM_MODEL}_${n}.urdf > /tmp/${PX4_SIM_MODEL}_${n}.sdf
echo "Spawning ${PX4_SIM_MODEL}_${n}"
gz model --spawn-file=/tmp/${PX4_SIM_MODEL}_${n}.sdf --model-name=${PX4_SIM_MODEL}_${n} -x 0.0 -y $((2*${n})) -z 0.0
popd &>/dev/null
n=$(($n + 1))
done
trap "cleanup" SIGINT SIGTERM EXIT
echo "Starting gazebo client"
gzclient