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Bug fix in gazebo_sitl_multiple_run.sh #15392

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Bug fix in gazebo_sitl_multiple_run.sh #15392

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ff7a5df
Bug fix in gazebo_sitl_multiple_run.sh
iwishiwasaneagle Jul 21, 2020
379abb7
If -s wasn't used, model wasn't set before this commit
iwishiwasaneagle Jul 21, 2020
5586855
Clearer default value
iwishiwasaneagle Jul 22, 2020
6e37046
Update gazebo_sitl_multiple_run.sh
iwishiwasaneagle Jul 22, 2020
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6 changes: 3 additions & 3 deletions Tools/gazebo_sitl_multiple_run.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@ function spawn_model() {

pushd "$working_dir" &>/dev/null
echo "starting instance $n in $(pwd)"
export PX4_SIM_MODEL=${MODEL}
../bin/px4 -i $n -d "$src_path/ROMFS/px4fmu_common" -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)) \
Expand All @@ -52,14 +53,13 @@ do
case "${option}"
in
n) NUM_VEHICLES=${OPTARG};;
m) VEHICLE_MODEL=${OPTARG};;
m) VEHICLE_MODEL=${OPTARG:=iris};;
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w) WORLD=${OPTARG};;
s) SCRIPT=${OPTARG};;
esac
done

num_vehicles=${NUM_VEHICLES:=3}
export PX4_SIM_MODEL=${VEHICLE_MODEL:=iris}
world=${WORLD:=empty}
echo ${SCRIPT}

Expand Down Expand Up @@ -91,7 +91,7 @@ if [ -z ${SCRIPT} ]; then
fi

while [ $n -lt $num_vehicles ]; do
spawn_model ${PX4_SIM_MODEL} $n
spawn_model ${VEHICLE_MODEL} $n
n=$(($n + 1))
done
else
Expand Down