forked from Archive/PX4-Autopilot
141 lines
3.8 KiB
Bash
Executable File
141 lines
3.8 KiB
Bash
Executable File
#!/bin/bash
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# run multiple instances of the 'px4' binary, with the gazebo SITL simulation
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# It assumes px4 is already built, with 'make px4_sitl_default gazebo'
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# The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
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# For example gazebo can be run like this:
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#./Tools/gazebo_sitl_multiple_run.sh -n 10 -m iris
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function cleanup() {
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pkill -x px4
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pkill gzclient
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pkill gzserver
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}
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function spawn_model() {
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MODEL=$1
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N=$2 #Instance Number
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X=$3
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Y=$4
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X=${X:=0.0}
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Y=${Y:=$((3*${N}))}
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SUPPORTED_MODELS=("iris" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
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if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL"* ]];
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then
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echo "ERROR: Currently only vehicle model $MODEL is not supported!"
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echo " Supported Models: [${SUPPORTED_MODELS[@]}]"
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trap "cleanup" SIGINT SIGTERM EXIT
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exit 1
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fi
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working_dir="$build_path/instance_$n"
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[ ! -d "$working_dir" ] && mkdir -p "$working_dir"
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pushd "$working_dir" &>/dev/null
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echo "starting instance $N in $(pwd)"
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../bin/px4 -i $N -d "$build_path/etc" -w sitl_${MODEL}_${N} -s etc/init.d-posix/rcS >out.log 2>err.log &
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python3 ${src_path}/Tools/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
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echo "Spawning ${MODEL}_${N} at ${X} ${Y}"
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gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.83
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popd &>/dev/null
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}
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if [ "$1" == "-h" ] || [ "$1" == "--help" ]
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then
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echo "Usage: $0 [-n <num_vehicles>] [-m <vehicle_model>] [-w <world>] [-s <script>]"
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echo "-s flag is used to script spawning vehicles e.g. $0 -s iris:3,plane:2"
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exit 1
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fi
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while getopts n:m:w:s:t:l: option
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do
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case "${option}"
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in
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n) NUM_VEHICLES=${OPTARG};;
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m) VEHICLE_MODEL=${OPTARG};;
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w) WORLD=${OPTARG};;
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s) SCRIPT=${OPTARG};;
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t) TARGET=${OPTARG};;
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l) LABEL=_${OPTARG};;
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esac
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done
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num_vehicles=${NUM_VEHICLES:=3}
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world=${WORLD:=empty}
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target=${TARGET:=px4_sitl_default}
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vehicle_model=${VEHICLE_MODEL:="iris"}
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export PX4_SIM_MODEL=${vehicle_model}
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echo ${SCRIPT}
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SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
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src_path="$SCRIPT_DIR/.."
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build_path=${src_path}/build/${target}
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mavlink_udp_port=14560
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mavlink_tcp_port=4560
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echo "killing running instances"
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pkill -x px4 || true
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sleep 1
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source ${src_path}/Tools/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
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# To use gazebo_ros ROS2 plugins
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if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
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ros_args="-s libgazebo_ros_init.so -s libgazebo_ros_factory.so"
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else
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ros_args=""
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fi
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echo "Starting gazebo"
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gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose $ros_args &
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sleep 5
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n=0
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if [ -z ${SCRIPT} ]; then
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if [ $num_vehicles -gt 255 ]
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then
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echo "Tried spawning $num_vehicles vehicles. The maximum number of supported vehicles is 255"
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exit 1
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fi
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while [ $n -lt $num_vehicles ]; do
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spawn_model ${vehicle_model} $n
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n=$(($n + 1))
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done
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else
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IFS=,
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for target in ${SCRIPT}; do
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target="$(echo "$target" | tr -d ' ')" #Remove spaces
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target_vehicle=$(echo $target | cut -f1 -d:)
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target_number=$(echo $target | cut -f2 -d:)
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target_x=$(echo $target | cut -f3 -d:)
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target_y=$(echo $target | cut -f4 -d:)
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if [ $n -gt 255 ]
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then
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echo "Tried spawning $n vehicles. The maximum number of supported vehicles is 255"
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exit 1
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fi
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m=0
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while [ $m -lt ${target_number} ]; do
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export PX4_SIM_MODEL=${target_vehicle}
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spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
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m=$(($m + 1))
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n=$(($n + 1))
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done
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done
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fi
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trap "cleanup" SIGINT SIGTERM EXIT
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echo "Starting gazebo client"
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gzclient
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