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sitl: enable spawning different vehicle types for multivehicle SITL in gazebo (#15147)

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This can be run with the command `Toos/gazebo_multiple_sitl_run.sh -s plane:3,iris:1
This commit is contained in:
JaeyoungLim
2020-06-24 08:23:16 +02:00
committed by GitHub
parent 27cf3c7c75
commit 3ef852c8e3
1 changed files with 63 additions and 30 deletions
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Tools/gazebo_sitl_multiple_run.sh
+63 -30
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@@ -11,37 +11,58 @@ function cleanup() {
pkill gzclient
}
function spawn_model() {
MODEL=$1
N=$2 #Instance Number
if [ "$MODEL" != "iris" ] && [ "$MODEL" != "plane" ] && [ "$MODEL" != "standard_vtol" ]
then
echo "Currently only the following vehicle models are supported! [iris, plane, standard_vtol]"
exit 1
fi
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_${MODEL}_${n} -s etc/init.d-posix/rcS >out.log 2>err.log &
python3 ${src_path}/Tools/sitl_gazebo/scripts/xacro.py ${src_path}/Tools/sitl_gazebo/models/rotors_description/urdf/${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+$N)) -o /tmp/${MODEL}_${N}.urdf
gz sdf -p /tmp/${MODEL}_${N}.urdf > /tmp/${MODEL}_${n}.sdf
echo "Spawning ${MODEL}_${N}"
gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x 0.0 -y $((3*${N})) -z 0.0
popd &>/dev/null
}
if [ "$1" == "-h" ] || [ "$1" == "--help" ]
then
echo "Usage: $0 [-n <num_vehicles>] [-m <vehicle_model>]"
echo "Usage: $0 [-n <num_vehicles>] [-m <vehicle_model>] [-w <world>] [-s <script>]"
echo "-s flag is used to script spawning vehicles e.g. $0 -s iris:3,plane:2"
exit 1
fi
while getopts n:m:w: option
while getopts n:m:w:s: option
do
case "${option}"
in
n) NUM_VEHICLES=${OPTARG};;
m) VEHICLE_MODEL=${OPTARG};;
w) WORLD=${OPTARG};;
s) SCRIPT=${OPTARG};;
esac
done
num_vehicles=${NUM_VEHICLES:=3}
export PX4_SIM_MODEL=${VEHICLE_MODEL:=iris}
world=${WORLD:=empty}
echo ${SCRIPT}
if [ "$PX4_SIM_MODEL" != "iris" ] && [ "$PX4_SIM_MODEL" != "plane" ] && [ "$PX4_SIM_MODEL" != "standard_vtol" ]
then
echo "Currently only the following vehicle models are supported! [iris, plane, standard_vtol]"
exit 1
fi
if [ $num_vehicles -gt 255 ]
then
echo "Tried spawning $num_vehicles vehicles. The maximum number of supported vehicles is 255"
exit 1
fi
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
src_path="$SCRIPT_DIR/.."
@@ -62,27 +83,39 @@ 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"
if [ -z ${SCRIPT} ]; then
if [ $num_vehicles -gt 255 ]
then
echo "Tried spawning $num_vehicles vehicles. The maximum number of supported vehicles is 255"
exit 1
fi
pushd "$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
while [ $n -lt $num_vehicles ]; do
spawn_model ${PX4_SIM_MODEL} $n
n=$(($n + 1))
done
else
IFS=,
for target in ${SCRIPT}; do
target="$(echo "$target" | tr -d ' ')" #Remove spaces
target_vehicle="${target%:*}"
target_number="${target#*:}"
gz sdf -p /tmp/${PX4_SIM_MODEL}_${n}.urdf > /tmp/${PX4_SIM_MODEL}_${n}.sdf
echo "Spawning ${PX4_SIM_MODEL}_${n}"
if [ $n -gt 255 ]
then
echo "Tried spawning $n vehicles. The maximum number of supported vehicles is 255"
exit 1
fi
gz model --spawn-file=/tmp/${PX4_SIM_MODEL}_${n}.sdf --model-name=${PX4_SIM_MODEL}_${n} -x 0.0 -y $((3*${n})) -z 0.0
popd &>/dev/null
n=$(($n + 1))
done
m=0
while [ $m -lt ${target_number} ]; do
spawn_model ${target_vehicle} $n
m=$(($m + 1))
n=$(($n + 1))
done
done
fi
trap "cleanup" SIGINT SIGTERM EXIT
echo "Starting gazebo client"