33. starling-sim-ardupilot-gazebo¶
Based on starling-sim-base-core
This image contains the base Gazebo installation and adds the ArduPilot specific plugin.
33.1 Environment Variables¶
| Name | Default Value | Description |
|---|---|---|
AP_SYSID |
1 | MAVLink system ID to be used by the SITL. Can also be set to "ordinal" or "ip" |
AP_SYSID_BASE |
1 | Base system ID for ordinal-based generation |
AP_SITL_ADDRESS |
127.0.0.1 | IP address for Gazebo plugin to use to talk to ArduPilot instance |
AP_SITL_HOST |
{null} | Hostname for Gazebo plugin to use to talk to ArduPilot instance. Set to override IP address. |
VEHICLE_NAMESPACE |
vehicle_${AP_SYSID} |
ROS2 Namespace in which to place vehicle sensor topics (e.g. gimbal_cmd) |
33.1.1 AP_SYSID¶
Sets the MAVLink system ID to be used by the SITL. This must either be a value between 1 and 255 inclusive or set to
"ordinal" or "ip". Other values will cause the container to exit.
When set to "ordinal, the entrypoint script will attempt to retrieve a 0-indexed ordinal from the end of the
container's hostname. The hostnames should be of the form ${HOSTNAME}-${ORDINAL}, e.g. sitl-0, sitl-1, sitl-3.
This behaviour supports deployment of this image as part of a Kubernetes StatefulSet.
When set to "ip", the entrypoint script retrieves the last octet of the container's IP address and uses that as the
system ID. e.g. 172.18.0.4 will result in a system ID of 4.
At present, the system ID is set by appending it to the parameter file. If a custom parameter file is supplied, it
should not contain the SYSID_THISMAV parameter.
33.1.2 AP_SYSID_BASE¶
This variable only affects the container when using the ordinal-based generation outlined above. The value set here will be added to the ordinal from the hostname to derive the MAVLink system ID. If the resultant value is not a valid system ID, i.e. it is not between 1 and 255 inclusive, the container will exit.