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gz: specify custom world coordinates (#24813)

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gz: allow custom world coordinates with environment variables and update the docs
This commit is contained in:
Jacob Dahl 2025-05-07 10:36:40 -08:00 committed by GitHub
parent 688e6aafae
commit 050425af25
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2 changed files with 33 additions and 4 deletions
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23
ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim
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@ -6,8 +6,8 @@ MIN_GZ_VERSION="8.0.0"
GZ_SIM_VERSION=$(gz sim --versions 2>/dev/null | head -n 1 | tr -d ' ')
if [ -z "$GZ_SIM_VERSION" ]; then
echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
exit 1
echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
exit 1
fi
# Use sort compare, check that MIN_GZ_VERSION is ordered last
@ -24,8 +24,8 @@ if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)"
gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
fi
else
echo "ERROR [init] Gazebo version too hold ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
exit 1
echo "ERROR [init] Gazebo version too hold ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
exit 1
fi
# If not standalone
@ -89,6 +89,21 @@ while [ $ATTEMPTS -gt 0 ]; do
sleep 1
done
# World is ready, check if custom location is provided
if [ -n "${PX4_HOME_LAT}" ] || [ -n "${PX4_HOME_LON}" ] || [ -n "${PX4_HOME_ALT}" ]; then
# must have all three
if [ -z "${PX4_HOME_LAT}" ] || [ -z "${PX4_HOME_LON}" ] || [ -z "${PX4_HOME_ALT}" ]; then
echo "ERROR [init] PX4_HOME_LAT, PX4_HOME_LON and PX4_HOME_ALT must all be set"
exit 1
fi
echo "INFO [init] Setting world origin to lat: ${PX4_HOME_LAT}, lon: ${PX4_HOME_LON}, alt: ${PX4_HOME_ALT}"
${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_spherical_coordinates" \
--reqtype gz.msgs.SphericalCoordinates \
--reptype gz.msgs.Boolean \
--timeout 1000 \
--req "surface_model: EARTH_WGS84, latitude_deg: ${PX4_HOME_LAT}, longitude_deg: ${PX4_HOME_LON}, elevation: ${PX4_HOME_ALT}" > /dev/null 2>&1
fi
# Start gz_bridge - either spawn a model or connect to existing one
if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
# Spawn a model

14
docs/en/sim_gazebo_gz/index.md
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@ -131,6 +131,20 @@ The simulation can be run in headless mode by prefixing the command with the `HE
HEADLESS=1 make px4_sitl gz_x500
```
### Set Custom Takeoff Location
The takeoff location in Gazebo Classic can be set using environment variables.
The variables to set are: PX4_HOME_LAT, PX4_HOME_LON, and PX4_HOME_ALT.
For example:
```
export PX4_HOME_LAT=51.1788
export PX4_HOME_LON=-1.8263
export PX4_HOME_ALT=101
make px4_sitl gz_x500
```
### Specify World
The simulation can be run inside a particular world by concatenating the desired world to the name of the desired vehicle.