From 1888fd32c1eee7cdbb17b3e83c113f5854972ef7 Mon Sep 17 00:00:00 2001 From: jaeyoung Date: Sun, 27 Sep 2020 21:25:13 +0200 Subject: [PATCH] Replace xacro macros to jinja templates for multivehicle This commit switches xacro macros to jinja templates for multivehicle simulations. --- Tools/gazebo_sitl_multiple_run.sh | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/Tools/gazebo_sitl_multiple_run.sh b/Tools/gazebo_sitl_multiple_run.sh index bf1ae0530a5b..11afd5d23e57 100755 --- a/Tools/gazebo_sitl_multiple_run.sh +++ b/Tools/gazebo_sitl_multiple_run.sh @@ -29,13 +29,10 @@ function spawn_model() { [ ! -d "$working_dir" ] && mkdir -p "$working_dir" pushd "$working_dir" &>/dev/null - echo "starting instance $n in $(pwd)" - ../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/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 + echo "starting instance $N in $(pwd)" + ../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})) --output-file /tmp/${MODEL}_${N}.sdf - 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