search

StarlingUAS / ProjectStarling

BRL Flight Arena Infrastructure 2.0
Other
17 stars 3 forks source link

Pr gazebo start location #43

Closed mhl787156 closed 3 years ago

mhl787156 commented 3 years ago

The purpose of this PR is to automatically specify location of drones. It achieves the following:

  1. By default an initial location is specified using new env variables PX4_SIM_INITLOC{X,Y,Z} in sitl.Dockerfile (defaulted to 0,0,0).
  2. xacro_launch.py then modifies this value depending on the ordinal value of the drone to spawn itself around a spiral formation.

In addition this PR includes a change to the spawn script to attempt best effort spawning. If no model exists, the model will be spawned. If a model already exists (e.g. the failure of one of the pods) then the spawn container will attempt and fail, but if the IGNORE_FAILURE env variable is set it will exit successfully anyway.

mhl787156 commented 3 years ago

@rob-clarke update docker hub?

rob-clarke commented 3 years ago

I'd like to get the droneconfig stuff in then call it 0.1 and tag everything