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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
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launch/posix_sitl.launch
-1
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@@ -15,7 +15,6 @@
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
<env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
<env name="PX4_ESTIMATOR" value="$(arg est)" />
<!-- gazebo configs -->
<arg name="gui" default="true"/>
launch/px4.launch
-1
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@@ -10,7 +10,6 @@
<arg name="interactive" default="true"/>
<env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
<env name="PX4_ESTIMATOR" value="$(arg est)" />
<arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
<arg if="$(arg interactive)" name="px4_command_arg1" value=""/>
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
launch/single_vehicle_spawn.launch
-1
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@@ -14,7 +14,6 @@
<arg name="vehicle" default="iris"/>
<arg name="ID" default="1"/>
<env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
<env name="PX4_ESTIMATOR" value="$(arg est)" />
<arg name="mavlink_udp_port" default="14560"/>
<arg name="mavlink_tcp_port" default="4560"/>
<arg name="gst_udp_port" default="5600"/>
launch/single_vehicle_spawn_sdf.launch
+1 -2
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@@ -14,13 +14,12 @@
<arg name="vehicle" default="plane"/>
<arg name="ID" default="1"/>
<env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
<env name="PX4_ESTIMATOR" value="$(arg est)" />
<arg name="mavlink_udp_port" default="14560"/>
<arg name="mavlink_tcp_port" default="4560"/>
<!-- PX4 configs -->
<arg name="interactive" default="true"/>
<!-- generate sdf vehicle model -->
<arg name="cmd" default="xmlstarlet ed -d '//plugin[@name=&quot;mavlink_interface&quot;]/mavlink_tcp_port' -s '//plugin[@name=&quot;mavlink_interface&quot;]' -t elem -n mavlink_tcp_port -v $(arg mavlink_tcp_port) $(find px4)/Tools/sitl_gazebo/models/$(arg vehicle)/$(arg vehicle).sdf"/>
<arg name="cmd" default="xmlstarlet ed -d '//plugin[@name=&quot;mavlink_interface&quot;]/mavlink_tcp_port' -s '//plugin[@name=&quot;mavlink_interface&quot;]' -t elem -n mavlink_tcp_port -v $(arg mavlink_tcp_port) $(find px4)/Tools/simulation/gazebo/sitl_gazebo/models/$(arg vehicle)/$(arg vehicle).sdf"/>
<param command="$(arg cmd)" name="model_description"/>
<!-- PX4 SITL -->
<arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>