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Add support for specifying spawn location in Gazebo multi sim

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This commit adds support for specifying the spawn location of vehicles
in the Gazebo multi-vehicle simulator script (frame:number:x:y).
Behavior when x and y are not specified remains the same as before.
This commit is contained in:
bbworld
2021-02-27 02:41:00 -08:00
committed by Lorenz Meier
parent daf744c678
commit 7525722b1a
1 changed files with 11 additions and 5 deletions
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Tools/gazebo_sitl_multiple_run.sh
+11 -5
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@@ -15,6 +15,10 @@ function cleanup() {
function spawn_model() { function spawn_model() {
MODEL=$1 MODEL=$1
N=$2 #Instance Number N=$2 #Instance Number
X=$3
Y=$4
X=${X:=0.0}
Y=${Y:=$((3*${N}))}
SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480") SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL"* ]]; if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL"* ]];
@@ -33,9 +37,9 @@ function spawn_model() {
../bin/px4 -i $N -d "$build_path/etc" -w sitl_${MODEL}_${N} -s etc/init.d-posix/rcS >out.log 2>err.log & ../bin/px4 -i $N -d "$build_path/etc" -w sitl_${MODEL}_${N} -s etc/init.d-posix/rcS >out.log 2>err.log &
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 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
echo "Spawning ${MODEL}_${N}" echo "Spawning ${MODEL}_${N} at ${X} ${Y}"
gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x 0.0 -y $((3*${N})) -z 0.0 gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.0
popd &>/dev/null popd &>/dev/null
@@ -102,8 +106,10 @@ else
IFS=, IFS=,
for target in ${SCRIPT}; do for target in ${SCRIPT}; do
target="$(echo "$target" | tr -d ' ')" #Remove spaces target="$(echo "$target" | tr -d ' ')" #Remove spaces
target_vehicle="${target%:*}" target_vehicle=$(echo $target | cut -f1 -d:)
target_number="${target#*:}" target_number=$(echo $target | cut -f2 -d:)
target_x=$(echo $target | cut -f3 -d:)
target_y=$(echo $target | cut -f4 -d:)
if [ $n -gt 255 ] if [ $n -gt 255 ]
then then
@@ -113,7 +119,7 @@ else
m=0 m=0
while [ $m -lt ${target_number} ]; do while [ $m -lt ${target_number} ]; do
spawn_model ${target_vehicle} $n spawn_model ${target_vehicle} $n $target_x $target_y
m=$(($m + 1)) m=$(($m + 1))
n=$(($n + 1)) n=$(($n + 1))
done done