SITL Build Issue

shy020501 · October 9, 2023, 6:52am

Hi, I’m currently trying to build two PX4s so that I can connect PX4 to multiple simulators at a time. To do so, I’ve created two PX4 directories and changed their TCP & UDP Port (all the directories in makefile are set as separate directories). But, when I try to build them together, this error message shows up.

I’ve tried building both px4 separately and they work perfectly when only one of them are built. But when I finish building one, and try to build the second, the error message above shows up and the second one doesn’t get built. How should I build multiple PX4? Thank you.

JulianOes · October 10, 2023, 2:25am

It sounds like you want more than one PX4 instance.

Have you tried using the instance argument?

github.com

PX4/PX4-Autopilot/blob/5e986f69977ae79af25da3c0a6d393e6c7e9e7a6/platforms/posix/src/px4/common/main.cpp#L154


      
          		if (binary_name.compare(0, strlen(prefix), prefix) == 0) {
          			is_client = true;
          		}
          
          		path_length = full_binary_name.length() - binary_name.length();
          
          		absolute_binary_path = get_absolute_binary_path(full_binary_name);
          	}
          
          	if (is_client) {
          		if (argc >= 3 && strcmp(argv[1], "--instance") == 0) {
          			instance = strtoul(argv[2], nullptr, 10);
          			/* update argv so that "--instance <instance>" is not visible anymore */
          			argc -= 2;
          
          			for (int i = 1; i < argc; ++i) {
          				argv[i] = argv[i + 2];
          			}
          		}
          
          		PX4_DEBUG("instance: %i", instance);