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Use jinja templates for multivehicle simulations #15831

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merged 1 commit into from Sep 29, 2020
Merged

Use jinja templates for multivehicle simulations #15831

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9 changes: 3 additions & 6 deletions Tools/gazebo_sitl_multiple_run.sh
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Expand Up @@ -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
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