Add options to spawn multiple vehicles in different worlds #14764
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Since SITL gazebo now has the ability to spawn vehicles to different worlds, this can be done for simulating multiple vehicles
bkueng
approved these changes
Apr 27, 2020
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Describe problem solved by this pull request
Since SITL gazebo now has a clean separation between worlds and vehicles, we can now spawn multiple vehicles to any world we want.
Describe your solution
You can use the
-wflag to specify which world the vehicle should be spawned in. If no-wflag is specified, then the script defaults toempty.worldTest data / coverage
For e.g.
Additional context
This was enabled by separating worlds with models in gazebo definitions. This will also be something useful to test multivehicle fleets in "windy" environments when such worlds are added as in #14737