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Add support for VTOL multivehicle simulation in SITL gazebo #13985

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merged 1 commit into from
Jan 27, 2020
Merged

Add support for VTOL multivehicle simulation in SITL gazebo #13985

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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 @@ -29,9 +29,9 @@ done
num_vehicles=${NUM_VEHICLES:=3}
export PX4_SIM_MODEL=${VEHICLE_MODEL:=iris}

if [ "$PX4_SIM_MODEL" != "iris" ] & [ "$PX4_SIM_MODEL" != "plane" ]
if [ "$PX4_SIM_MODEL" != "iris" ] && [ "$PX4_SIM_MODEL" != "plane" ] && [ "$PX4_SIM_MODEL" != "standard_vtol" ]
then
echo "Currently only iris and plane vehicle model is supported!"
echo "Currently only the following vehicle models are supported! [iris, plane, standard_vtol]"
exit 1
fi

Expand Down Expand Up @@ -69,7 +69,7 @@ while [ $n -lt $num_vehicles ]; do
gz sdf -p /tmp/${PX4_SIM_MODEL}_${n}.urdf > /tmp/${PX4_SIM_MODEL}_${n}.sdf
echo "Spawning ${PX4_SIM_MODEL}_${n}"

gz model --spawn-file=/tmp/${PX4_SIM_MODEL}_${n}.sdf --model-name=${PX4_SIM_MODEL}_${n} -x 0.0 -y $((2*${n})) -z 0.0
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

popd &>/dev/null

Expand Down