fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 11:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update launch files to enable multi-video stream in SITL (#16497)

Browse Source 
* Update launch files to support multi-video stream in SITL

* Pass extra args to jinja_gen.py inside gazebo_sitl_multiple_run.sh to enable multi-video streaming
This commit is contained in:
Mohamed Abdelkader Zahana
2021-01-08 19:29:47 +01:00
committed by GitHub
parent 706f806943
commit 80dd841cad
3 changed files with 14 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Tools/gazebo_sitl_multiple_run.sh
+1 -1
View File
@@ -31,7 +31,7 @@ function spawn_model() {
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/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
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}"