#!/bin/bash
# run multiple instances of the 'px4' binary, but w/o starting the simulator.
# It assumes px4 is already built, with 'make px4_sitl_default'

# The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
# For example jmavsim can be run like this:
#./Tools/jmavsim_run.sh -p 4561 -l

sitl_num=2
[ -n "$1" ] && sitl_num="$1"

SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
src_path="$SCRIPT_DIR/.."

build_path=${src_path}/build/px4_sitl_default
mavlink_udp_port=14560
mavlink_tcp_port=4560
world="empty"

echo "killing running instances"
pkill -x px4 || true

sleep 1

export PX4_SIM_MODEL=iris

echo "Starting gazebo"
gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose &
sleep 5

n=0
while [ $n -lt $sitl_num ]; do
	working_dir="$build_path/instance_$n"
	[ ! -d "$working_dir" ] && mkdir -p "$working_dir"

	pushd "$working_dir" &>/dev/null
	echo "starting instance $n in $(pwd)"
	../bin/px4 -i $n -d "$src_path/ROMFS/px4fmu_common" -w sitl_iris_${n} -s etc/init.d-posix/rcS >out.log 2>err.log &
	xacro ${src_path}/Tools/sitl_gazebo/models/rotors_description/urdf/iris_base.xacro rotors_description_dir:=${src_path}/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$((14560+$n)) mavlink_tcp_port:=$((4560+$n)) --inorder > /tmp/${PX4_SIM_MODEL}_${n}.urdf
	echo "Spawning ${PX4_SIM_MODEL}_${n}"
	gz model --spawn-file=/tmp/${PX4_SIM_MODEL}_${n}.urdf --model-name=${PX4_SIM_MODEL}_${n} -x 0.0 -y ${n} -z 0.0

	popd &>/dev/null

	n=$(($n + 1))
done

echo "Starting gazebo client"
gzclient

Support multi vehicle sitl gazebo without ros
Support multi vehicle sitl gazebo without ros
