Ardupilot: 开启多个无人机SITL仿真实例Shell脚本
发布时间 2023-06-27 08:57:10作者: 前端人生
将该脚本文件放入Ardupilot目录下，文件名称为swarm.sh
'
#!/bin/bash
# run example: start run three ArduCopter sitl
# bash swarm.sh ArduCopter 3
# Vehicle start location
locs=(
'22.71343050,114.40813420,0.0,0'
'22.71343050,114.40915080,0.0,0'
'22.71344530,114.41021830,0.0,0'
'22.71345030,114.41111680,0.0,0'
'22.71346020,114.41186790,0.0,0'
)
# mavproxy out udp port, Mission Planner connect this port, user can modify
udp='udp:192.168.124.11:14550'
types=("ArduCopter" "ArduPlane" "ArduRover")
type=$1 # in types
num=`expr $2 + 0` # sitl count
have_type=0
if [ $# -lt 2 ]; then echo 'Input arg error!'; exit 0; fi
# check sitl instance count
if [ $num -gt ${#locs[*]} ]; then num=${#locs[*]}; fi
# check type
for t in ${types[*]}
do
echo $t$type
if [ $t = $type ]; then
have_type=1;
break;
fi
done
# check pass, start run all sitl
# create shell term: gnome-terminal --titile='' --window -e "Run Command" --tab --title='' -e "Run Command" ...
if [ $have_type -eq 1 ]
then
echo 'Vehicle Count='${num}
if [ $num -gt 0 ]
then
# gnome-terminal: create new terminal
cmd='gnome-terminal --title="UAV0" --window -e '
index=0
sim=''
tab=''
for loc in ${locs[*]}
do
sim=${sim}${tab}'"Tools/autotest/sim_vehicle.py -v '${type}' -I '${index}' -l '${loc}' --auto-sysid --out='${udp}'"'
index=`expr $index + 1`
if [ $index -eq $num ]; then break; fi
tab=' --tab --title="UAV'${index}'" -e '
done
runcmd=${cmd}${sim}
echo $runcmd
eval $runcmd #run cmd
else
echo 'Vehicle Count Error! Max Count: '${#locs[*]}
fi
else
echo 'Vehicle Type Error!'
echo 'Vehicle Type: '
for t in ${types[*]}:
do
echo ' '${t}
done
fi
# gnome-terminal --title="UAV" -- sim_vehicle.py -v ArduCopter -I 3 -l 22.71344530,114.41021830,0.0,0 --auto-sysid --out=udp:192.168.124.11:14550
`