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Allow gzserver verbose options through command line

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Allows verbose option for gzserver with VERBOS=1 on command line.
This commit is contained in:
Jaeyoung-Lim 2020-09-12 19:53:41 +02:00 committed by Lorenz Meier
parent 2128679ab3
commit 0d4d21cd67
1 changed files with 13 additions and 5 deletions
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18
Tools/sitl_run.sh
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@ -42,6 +42,13 @@ else
no_pxh=""
fi
# To disable user input
if [[ -n "$VERBOSE" ]]; then
verbose="--verbose"
else
verbose=""
fi
if [ "$model" != none ]; then
jmavsim_pid=`ps aux | grep java | grep "\-jar jmavsim_run.jar" | awk '{ print $2 }'`
if [ -n "$jmavsim_pid" ]; then
@ -94,24 +101,25 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
if [ "$world" == "none" ]; then
if [ -f ${src_path}/Tools/sitl_gazebo/worlds/${model}.world ]; then
echo "empty world, default world ${model}.world for model found"
gzserver "${src_path}/Tools/sitl_gazebo/worlds/${model}.world" &
world_path="${src_path}/Tools/sitl_gazebo/worlds/${model}.world"
else
echo "empty world, setting empty.world as default"
gzserver "${src_path}/Tools/sitl_gazebo/worlds/empty.world" &
world_path="${src_path}/Tools/sitl_gazebo/worlds/empty.world"
fi
else
#Spawn empty world if world with model name doesn't exist
gzserver "${src_path}/Tools/sitl_gazebo/worlds/${world}.world" &
world_path= $verbose "${src_path}/Tools/sitl_gazebo/worlds/${world}.world"
fi
else
if [ -f ${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world ]; then
# Spawn world by name if exists in the worlds directory from environment variable
gzserver "${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world" &
world_path="${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world"
else
# Spawn world from environment variable with absolute path
gzserver "$PX4_SITL_WORLD" &
world_path="$PX4_SITL_WORLD"
fi
fi
gzserver $verbose $world_path &
SIM_PID=$!
while gz model --verbose --spawn-file="${src_path}/Tools/sitl_gazebo/models/${model}/${model_name}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do