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Update sitl_run to check for -gen.sdf files (#15232)

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Co-authored-by: Anton Erasmus <antonerasm@gmail.com>
This commit is contained in:
Anton Erasmus
2020-08-24 17:01:11 +02:00
committed by GitHub
co-authored by Anton Erasmus
parent 979243f38f
commit 1ae579b5d5
1 changed files with 8 additions and 1 deletions
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Tools/sitl_run.sh
+8 -1
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@@ -80,6 +80,13 @@ if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]; then
SIM_PID=`echo $!` SIM_PID=`echo $!`
elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
if [ -x "$(command -v gazebo)" ]; then if [ -x "$(command -v gazebo)" ]; then
# Get the model name
model_name="${model}"
# Check if a 'modelname-gen.sdf' file exist for the models using jinja and generating the SDF files
if [ -f "${src_path}/Tools/sitl_gazebo/models/${model}/${model}-gen.sdf" ]; then
model_name="${model}-gen"
fi
# Set the plugin path so Gazebo finds our model and sim # Set the plugin path so Gazebo finds our model and sim
source "$src_path/Tools/setup_gazebo.bash" "${src_path}" "${build_path}" source "$src_path/Tools/setup_gazebo.bash" "${src_path}" "${build_path}"
if [ -z $PX4_SITL_WORLD ]; then if [ -z $PX4_SITL_WORLD ]; then
@@ -107,7 +114,7 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
fi fi
SIM_PID=$! SIM_PID=$!
while gz model --verbose --spawn-file="${src_path}/Tools/sitl_gazebo/models/${model}/${model}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do while gz model --verbose --spawn-file="${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
echo "gzserver not ready yet, trying again!" echo "gzserver not ready yet, trying again!"
sleep 1 sleep 1
done done