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)
141 lines
3.8 KiB
Bash
Executable File
141 lines
3.8 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 gazebo'
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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/simulation/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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pkill gzserver
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}
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function spawn_model() {
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MODEL=$1
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N=$2 #Instance Number
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X=$3
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Y=$4
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X=${X:=0.0}
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Y=${Y:=$((3*${N}))}
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SUPPORTED_MODELS=("iris" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
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if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL"* ]];
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then
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echo "ERROR: Currently only vehicle model $MODEL is not supported!"
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echo " Supported Models: [${SUPPORTED_MODELS[@]}]"
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trap "cleanup" SIGINT SIGTERM EXIT
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exit 1
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fi
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working_dir="$build_path/rootfs/$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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python3 ${src_path}/Tools/simulation/gazebo/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo/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
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echo "Spawning ${MODEL}_${N} at ${X} ${Y}"
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gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.83
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popd &>/dev/null
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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>] [-w <world>] [-s <script>]"
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echo "-s flag is used to script spawning vehicles e.g. $0 -s iris:3,plane:2"
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exit 1
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fi
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while getopts n:m:w:s:t:l: option
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do
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case "${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=${OPTARG};;
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s) SCRIPT=${OPTARG};;
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t) TARGET=${OPTARG};;
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l) LABEL=_${OPTARG};;
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esac
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done
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num_vehicles=${NUM_VEHICLES:=3}
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world=${WORLD:=empty}
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target=${TARGET:=px4_sitl_default}
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vehicle_model=${VEHICLE_MODEL:="iris"}
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export PX4_SIM_MODEL=${vehicle_model}
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echo ${SCRIPT}
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SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
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src_path="$SCRIPT_DIR/../../.."
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build_path=${src_path}/build/${target}
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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/simulation/gazebo/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
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# To use gazebo_ros ROS2 plugins
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if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
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ros_args="-s libgazebo_ros_init.so -s libgazebo_ros_factory.so"
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else
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ros_args=""
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fi
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echo "Starting gazebo"
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gzserver ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world --verbose $ros_args &
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sleep 5
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n=0
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if [ -z ${SCRIPT} ]; then
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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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while [ $n -lt $num_vehicles ]; do
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spawn_model ${vehicle_model} $n
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n=$(($n + 1))
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done
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else
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IFS=,
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for target in ${SCRIPT}; do
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target="$(echo "$target" | tr -d ' ')" #Remove spaces
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target_vehicle=$(echo $target | cut -f1 -d:)
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target_number=$(echo $target | cut -f2 -d:)
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target_x=$(echo $target | cut -f3 -d:)
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target_y=$(echo $target | cut -f4 -d:)
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if [ $n -gt 255 ]
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then
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echo "Tried spawning $n vehicles. The maximum number of supported vehicles is 255"
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exit 1
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fi
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m=0
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while [ $m -lt ${target_number} ]; do
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export PX4_SIM_MODEL=${target_vehicle}
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spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
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m=$(($m + 1))
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n=$(($n + 1))
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done
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done
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fi
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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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