mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
4040e4cdf2
- new modules/simulation directory to collect all simulators and related modules - new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc - simulation module renamed to simulator_mavlink - sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator) - ignition_simulator renamed to simulator_ignition_bridge - large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules - sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world) - new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
36 lines
904 B
Bash
Executable File
36 lines
904 B
Bash
Executable File
#!/bin/bash
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# run multiple instances of the 'px4' binary, but w/o starting the simulator.
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# It assumes px4 is already built, with 'make px4_sitl_default'
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# The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
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# For example jmavsim can be run like this:
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#./Tools/simulation/jmavsim/jmavsim_run.sh -p 4561 -l
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sitl_num=2
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[ -n "$1" ] && sitl_num="$1"
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SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
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src_path="$SCRIPT_DIR/.."
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build_path=${src_path}/build/px4_sitl_default
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echo "killing running instances"
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pkill -x px4 || true
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sleep 1
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export PX4_SIM_MODEL=iris
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n=0
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while [ $n -lt $sitl_num ]; do
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working_dir="$build_path/instance_$n"
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[ ! -d "$working_dir" ] && mkdir -p "$working_dir"
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pushd "$working_dir" &>/dev/null
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echo "starting instance $n in $(pwd)"
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$build_path/bin/px4 -i $n -d "$build_path/etc" >out.log 2>err.log &
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popd &>/dev/null
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n=$(($n + 1))
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done
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