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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
e669e999e2
Since SITL gazebo now has the ability to spawn vehicles to different worlds, this can be done for simulating multiple vehicles
90 lines
2.5 KiB
Bash
Executable File
90 lines
2.5 KiB
Bash
Executable File
#!/bin/bash
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# run multiple instances of the 'px4' binary, with the gazebo SITL simulation
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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 gazebo can be run like this:
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#./Tools/gazebo_sitl_multiple_run.sh -n 10 -m iris
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function cleanup() {
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pkill -x px4
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pkill gzclient
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}
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if [ "$1" == "-h" ] || [ "$1" == "--help" ]
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then
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echo "Usage: $0 [-n <num_vehicles>] [-m <vehicle_model>]"
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exit 1
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fi
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while getopts n:m:w: option
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do
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case "${option}"
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in
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n) NUM_VEHICLES=${OPTARG};;
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m) VEHICLE_MODEL=${OPTARG};;
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w) WORLD=${OPTARG};;
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esac
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done
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num_vehicles=${NUM_VEHICLES:=3}
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export PX4_SIM_MODEL=${VEHICLE_MODEL:=iris}
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world=${WORLD:=empty}
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if [ "$PX4_SIM_MODEL" != "iris" ] && [ "$PX4_SIM_MODEL" != "plane" ] && [ "$PX4_SIM_MODEL" != "standard_vtol" ]
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then
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echo "Currently only the following vehicle models are supported! [iris, plane, standard_vtol]"
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exit 1
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fi
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if [ $num_vehicles -gt 255 ]
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then
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echo "Tried spawning $num_vehicles vehicles. The maximum number of supported vehicles is 255"
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exit 1
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fi
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SCRIPT_DIR="$( 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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mavlink_udp_port=14560
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mavlink_tcp_port=4560
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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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source ${src_path}/Tools/setup_gazebo.bash ${src_path} ${src_path}/build/px4_sitl_default
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echo "Starting gazebo"
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gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose &
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sleep 5
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n=0
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while [ $n -lt $num_vehicles ]; do
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working_dir="$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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../bin/px4 -i $n -d "$src_path/ROMFS/px4fmu_common" -w sitl_${PX4_SIM_MODEL}_${n} -s etc/init.d-posix/rcS >out.log 2>err.log &
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python3 ${src_path}/Tools/sitl_gazebo/scripts/xacro.py ${src_path}/Tools/sitl_gazebo/models/rotors_description/urdf/${PX4_SIM_MODEL}_base.xacro \
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rotors_description_dir:=${src_path}/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(($mavlink_udp_port+$n)) \
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mavlink_tcp_port:=$(($mavlink_tcp_port+$n)) -o /tmp/${PX4_SIM_MODEL}_${n}.urdf
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gz sdf -p /tmp/${PX4_SIM_MODEL}_${n}.urdf > /tmp/${PX4_SIM_MODEL}_${n}.sdf
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echo "Spawning ${PX4_SIM_MODEL}_${n}"
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gz model --spawn-file=/tmp/${PX4_SIM_MODEL}_${n}.sdf --model-name=${PX4_SIM_MODEL}_${n} -x 0.0 -y $((3*${n})) -z 0.0
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popd &>/dev/null
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n=$(($n + 1))
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done
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trap "cleanup" SIGINT SIGTERM EXIT
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echo "Starting gazebo client"
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gzclient
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