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simulation organization and cleanup

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- new modules/simulation directory to collect all simulators and related modules
 - new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc
 - simulation module renamed to simulator_mavlink
 - sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator)
 - ignition_simulator renamed to simulator_ignition_bridge
 - large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules
 - sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world)
 - new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
This commit is contained in:
Daniel Agar
2022-08-25 09:10:03 -04:00
parent 6b2509cbba
commit 4040e4cdf2
200 changed files with 1778 additions and 2806 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d-posix/airframes/10040_quadx
+2
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@@ -9,6 +9,8 @@
. ${R}etc/init.d/rc.mc_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadx}
# disable some checks to allow to fly:
# - with usb
ROMFS/px4fmu_common/init.d-posix/airframes/10041_airplane
+2
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@@ -8,6 +8,8 @@
. ${R}etc/init.d/rc.fw_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=airplane}
# disable some checks to allow to fly:
# - with usb
ROMFS/px4fmu_common/init.d-posix/airframes/10042_xvert
+3
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@@ -8,6 +8,9 @@
. ${R}etc/init.d/rc.vtol_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_TYPE 0
param set-default VT_FW_DIFTHR_EN 1
ROMFS/px4fmu_common/init.d-posix/airframes/4001_x3
+16 -12
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@@ -7,6 +7,10 @@
. ${R}etc/init.d/rc.mc_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x3}
PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 0
@@ -28,19 +32,19 @@ param set-default CA_ROTOR3_PX -0.13
param set-default CA_ROTOR3_PY 0.20
param set-default CA_ROTOR3_KM -0.05
param set-default SIM_GZ_FUNC1 101
param set-default SIM_GZ_FUNC2 102
param set-default SIM_GZ_FUNC3 103
param set-default SIM_GZ_FUNC4 104
param set-default SIM_IGN_FUNC1 101
param set-default SIM_IGN_FUNC2 102
param set-default SIM_IGN_FUNC3 103
param set-default SIM_IGN_FUNC4 104
param set-default SIM_GZ_MIN1 150
param set-default SIM_GZ_MIN2 150
param set-default SIM_GZ_MIN3 150
param set-default SIM_GZ_MIN4 150
param set-default SIM_IGN_MIN1 150
param set-default SIM_IGN_MIN2 150
param set-default SIM_IGN_MIN3 150
param set-default SIM_IGN_MIN4 150
param set-default SIM_GZ_MAX1 1000
param set-default SIM_GZ_MAX2 1000
param set-default SIM_GZ_MAX3 1000
param set-default SIM_GZ_MAX4 1000
param set-default SIM_IGN_MAX1 1000
param set-default SIM_IGN_MAX2 1000
param set-default SIM_IGN_MAX3 1000
param set-default SIM_IGN_MAX4 1000
param set-default MPC_THR_HOVER 0.60
ROMFS/px4fmu_common/init.d-posix/airframes/6001_x4
+22 -18
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@@ -7,6 +7,10 @@
. ${R}etc/init.d/rc.mc_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x4}
PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 0
@@ -36,26 +40,26 @@ param set-default CA_ROTOR5_PX 0.25
param set-default CA_ROTOR5_PY 0.15
param set-default CA_ROTOR5_KM -0.05
param set-default SIM_GZ_FUNC1 101
param set-default SIM_GZ_FUNC2 102
param set-default SIM_GZ_FUNC3 103
param set-default SIM_GZ_FUNC4 104
param set-default SIM_GZ_FUNC5 105
param set-default SIM_GZ_FUNC6 106
param set-default SIM_IGN_FUNC1 101
param set-default SIM_IGN_FUNC2 102
param set-default SIM_IGN_FUNC3 103
param set-default SIM_IGN_FUNC4 104
param set-default SIM_IGN_FUNC5 105
param set-default SIM_IGN_FUNC6 106
param set-default SIM_GZ_MIN1 150
param set-default SIM_GZ_MIN2 150
param set-default SIM_GZ_MIN3 150
param set-default SIM_GZ_MIN4 150
param set-default SIM_GZ_MIN5 150
param set-default SIM_GZ_MIN6 150
param set-default SIM_IGN_MIN1 150
param set-default SIM_IGN_MIN2 150
param set-default SIM_IGN_MIN3 150
param set-default SIM_IGN_MIN4 150
param set-default SIM_IGN_MIN5 150
param set-default SIM_IGN_MIN6 150
param set-default SIM_GZ_MAX1 1000
param set-default SIM_GZ_MAX2 1000
param set-default SIM_GZ_MAX3 1000
param set-default SIM_GZ_MAX4 1000
param set-default SIM_GZ_MAX5 1000
param set-default SIM_GZ_MAX6 1000
param set-default SIM_IGN_MAX1 1000
param set-default SIM_IGN_MAX2 1000
param set-default SIM_IGN_MAX3 1000
param set-default SIM_IGN_MAX4 1000
param set-default SIM_IGN_MAX5 1000
param set-default SIM_IGN_MAX6 1000
param set-default MC_PITCHRATE_D 0.0016
ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink
+1 -1
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@@ -32,7 +32,7 @@ mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $ud
mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
# To display for SIH sitl
if [ "$SIM_MODE" = "sihsim" ]; then
if [ "$PX4_SIMULATOR" = "sihsim" ]; then
udp_sihsim_port_local=$((19450+px4_instance))
udp_sihsim_port_remote=$((19410+px4_instance))
mavlink start -x -u $udp_sihsim_port_local -r 400000 -m custom -o $udp_sihsim_port_remote
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+40 -15
View File
@@ -1,25 +1,50 @@
#!/bin/sh
# shellcheck disable=SC2154
PX4_SIM_WORLD="${PX4_SIM_WORLD:="empty"}" # default to empty world?
# Simulator IMU data provided at 250 Hz
param set-default IMU_INTEG_RATE 250
echo "PX4_SIM_MODEL: ${PX4_SIM_MODEL}"
echo "PX4_SIM_WORLD: ${PX4_SIM_WORLD}"
if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
# TODO: verify if world exists
ign service --info --service /world/${PX4_SIM_WORLD}/create
echo $?
if ! simulator_sih start; then
echo "ERROR [init] simulator_sih failed to start"
exit 1
fi
ign service -s /world/${PX4_SIM_WORLD}/create --reqtype ignition.msgs.EntityFactory --reptype ignition.msgs.Boolean --timeout 1000 --req "sdf_filename: \"${PX4_SIM_MODEL}/model.sdf\""
elif [ "$PX4_SIMULATOR" = "ignition" ]; then
if ignition_simulator start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"
then
# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
if [ -f gazebo_env.sh ]; then
. ./gazebo_env.sh
elif [ -f ../gazebo_env.sh ]; then
. ../gazebo_env.sh
fi
sensor_baro_sim start
sensor_gps_sim start
sensor_mag_sim start
if ! ign service --info --service /world/${PX4_SIM_WORLD}/create | grep "ignition.msgs.EntityFactory"; then
# starting ign gazebo with ${PX4_SIM_WORLD} world
echo "INFO [init] starting ign gazebo"
if [ -z $HEADLESS ]; then
ign gazebo --verbose=1 -r "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
else
# starting ign gazebo headless
ign gazebo --verbose=1 -r -s "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
fi
else
echo "INFO [init] ign gazebo already running"
fi
if simulator_ignition_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
sensor_baro_sim start
sensor_gps_sim start
sensor_mag_sim start
else
echo "ERROR [init] ign gazebo failed to start"
exit 1
fi
else
# otherwise start simulator (mavlink) module
simulator_tcp_port=$((4560+px4_instance))
# Check if PX4_SIM_HOSTNAME environment variable is empty
@@ -29,15 +54,15 @@ else
if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
echo "PX4 SIM HOST: localhost"
simulator start -c $simulator_tcp_port
simulator_mavlink start -c $simulator_tcp_port
else
echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
simulator_mavlink start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
fi
else
echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
simulator_mavlink start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
fi
fi
ROMFS/px4fmu_common/init.d-posix/rcS
+34 -30
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@@ -38,10 +38,24 @@ set LOGGER_BUF 1000
set RUN_MINIMAL_SHELL no
# Use the variable set by sitl_run.sh to choose the model settings.
if [ "$PX4_SIM_MODEL" = "shell" ]; then
set SYS_AUTOSTART=0
if [ "$PX4_SIM_MODEL" = "shell" ]
then
set RUN_MINIMAL_SHELL yes
else
elif [ -n "$PX4_SYS_AUTOSTART" ]
then
echo "env SYS_AUTOSTART: ${PX4_SYS_AUTOSTART}"
SYS_AUTOSTART=${PX4_SYS_AUTOSTART}
elif [ "$PX4_SIM_MODEL" = "none" ] || [ -z $PX4_SIM_MODEL ]
then
# no airframe selected
SYS_AUTOSTART=0
elif [ -n "$PX4_SIM_MODEL" ]
then
# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
# TODO: unify with rc.autostart generation
# shellcheck disable=SC2012
@@ -50,12 +64,13 @@ else
echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
exit 1
else
SYS_AUTOSTART=$REQUESTED_AUTOSTART
echo "INFO [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
fi
fi
# Load parameters
set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
set PARAM_FILE parameters.bson
param select $PARAM_FILE
if [ -f $PARAM_FILE ]
@@ -66,26 +81,16 @@ then
else
echo "[param] FAILED loading $PARAM_FILE"
fi
else
echo "[param] parameter file not found, creating $PARAM_FILE"
fi
# exit early when the minimal shell is requested
[ $RUN_MINIMAL_SHELL = yes ] && exit 0
if param compare SYS_AUTOSTART $SYS_AUTOSTART
then
set AUTOCNF no
# Use environment variable PX4_ESTIMATOR to choose estimator.
if [ "$PX4_ESTIMATOR" = "q" ]; then
param set SYS_MC_EST_GROUP 3
elif [ "$PX4_ESTIMATOR" = "ekf2" ]; then
param set SYS_MC_EST_GROUP 2
elif [ "$PX4_ESTIMATOR" = "lpe" ]; then
param set SYS_MC_EST_GROUP 1
elif [ "$PX4_ESTIMATOR" = "inav" ]; then
param set SYS_MC_EST_GROUP 0
fi
if param compare SYS_AUTOSTART $REQUESTED_AUTOSTART
elif [ "$SYS_AUTOSTART" -eq 0 ]
then
set AUTOCNF no
else
@@ -106,7 +111,7 @@ param set MAV_SYS_ID $((px4_instance+1))
if [ $AUTOCNF = yes ]
then
param set SYS_AUTOSTART $REQUESTED_AUTOSTART
param set SYS_AUTOSTART $SYS_AUTOSTART
param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
@@ -190,27 +195,26 @@ do
;;
esac
done
if [ ! -e "$autostart_file" ]; then
if [ -e "$autostart_file" ]
then
. "$autostart_file"
elif [ ! -e "$autostart_file" ] && [ "$SYS_AUTOSTART" -ne "0" ]
then
echo "Error: no autostart file found ($autostart_file)"
exit 1
fi
. "$autostart_file"
# Simulator IMU data provided at 250 Hz
param set IMU_INTEG_RATE 250
#user defined params for instances can be in PATH
. px4-rc.params
dataman start
# start sih in sih_sim mode, otherwise simulator module
if [ "$SIM_MODE" = "sihsim" ]; then
sih start
# only start the simulator if not in replay mode, as both control the lockstep time
elif ! replay tryapplyparams
if ! replay tryapplyparams
then
. px4-rc.simulator
. px4-rc.simulator
fi
load_mon start
ROMFS/px4fmu_common/init.d/rcS
+1 -1
View File
@@ -368,7 +368,7 @@ else
# start the simulator in hardware if needed
if param compare SYS_HITL 2
then
sih start
simulator_sih start
fi
else