forked from Archive/PX4-Autopilot
83 lines
2.3 KiB
Bash
Executable File
83 lines
2.3 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'
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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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}
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if [ "$1" == "-h" ] || [ "$1" == "--help" ]
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then
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echo "Usage: $0 [-n <num_vehicles>] [-m <vehicle_model>]"
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exit 1
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fi
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while getopts n:m: option
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do
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case "${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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esac
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done
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num_vehicles=${NUM_VEHICLES:=3}
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export PX4_SIM_MODEL=${VEHICLE_MODEL:=iris}
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if [ "$PX4_SIM_MODEL" != "iris" ] & [ "$PX4_SIM_MODEL" != "plane" ]
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then
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echo "Currently only iris and plane vehicle model is supported!"
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exit 1
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fi
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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/px4_sitl_default
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mavlink_udp_port=14560
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mavlink_tcp_port=4560
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world="empty"
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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/px4_sitl_default
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echo "Starting gazebo"
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gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose &
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sleep 5
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n=0
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while [ $n -lt $num_vehicles ]; do
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working_dir="$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 $n -d "$src_path/ROMFS/px4fmu_common" -w sitl_${PX4_SIM_MODEL}_${n} -s etc/init.d-posix/rcS >out.log 2>err.log &
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python3 ${src_path}/Tools/sitl_gazebo/scripts/xacro.py ${src_path}/Tools/sitl_gazebo/models/rotors_description/urdf/${PX4_SIM_MODEL}_base.xacro \
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rotors_description_dir:=${src_path}/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(($mavlink_udp_port+$n)) \
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mavlink_tcp_port:=$(($mavlink_tcp_port+$n)) -o /tmp/${PX4_SIM_MODEL}_${n}.urdf
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gz sdf -p /tmp/${PX4_SIM_MODEL}_${n}.urdf > /tmp/${PX4_SIM_MODEL}_${n}.sdf
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echo "Spawning ${PX4_SIM_MODEL}_${n}"
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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
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popd &>/dev/null
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n=$(($n + 1))
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done
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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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