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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
platforms/posix/Debug/launch_replay.json.in
+1 -1
View File
@@ -14,7 +14,7 @@
"${workspaceFolder}/test_data"
],
"stopAtEntry": false,
"cwd": "${command:cmake.buildDirectory}/tmp",
"cwd": "${command:cmake.buildDirectory}/rootfs",
"environment": [
{
"name": "replay",
platforms/posix/Debug/launch_sim.json.in → platforms/posix/Debug/launch_sitl_default.json.in
+63 -17
View File
@@ -2,17 +2,59 @@
"version": "0.2.0",
"configurations": [
{
"name": "SITL (gazebo)",
"name": "SITL (sihsim 10040_quadx)",
"type": "cppdbg",
"request": "launch",
"program": "${command:cmake.launchTargetPath}",
"args": [
"${workspaceFolder}/ROMFS/px4fmu_common",
"-s", "etc/init.d-posix/rcS",
"-t", "${workspaceFolder}/test_data"
"${workspaceFolder}/ROMFS/px4fmu_common"
],
"stopAtEntry": false,
"cwd": "${command:cmake.buildDirectory}/tmp",
"cwd": "${command:cmake.buildDirectory}/rootfs",
"environment": [
{
"name": "PX4_SIM_MODEL",
"value": "quadx"
}
],
"externalConsole": false,
"postDebugTask": "px4_sitl_cleanup",
"linux": {
"MIMode": "gdb",
"externalConsole": false,
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true
},
{
"description": "PX4 ignore wq signals",
"text": "handle SIGCONT nostop noprint nopass",
"ignoreFailures": true
}
]
},
"osx": {
"MIMode": "lldb",
"externalConsole": true,
"setupCommands": [
{
"text": "pro hand -p true -s false -n false SIGCONT",
}
]
}
},
{
"name": "SITL (Gazebo Classic)",
"type": "cppdbg",
"request": "launch",
"program": "${command:cmake.launchTargetPath}",
"args": [
"${workspaceFolder}/ROMFS/px4fmu_common"
],
"stopAtEntry": false,
"cwd": "${command:cmake.buildDirectory}/rootfs",
"environment": [
{
"name": "PX4_SIM_MODEL",
@@ -49,17 +91,15 @@
}
},
{
"name": "SITL (jmavsim iris)",
"name": "SITL (jmavsim)",
"type": "cppdbg",
"request": "launch",
"program": "${command:cmake.launchTargetPath}",
"args": [
"${workspaceFolder}/ROMFS/px4fmu_common",
"-s", "etc/init.d-posix/rcS",
"-t", "${workspaceFolder}/test_data"
"${workspaceFolder}/ROMFS/px4fmu_common"
],
"stopAtEntry": false,
"cwd": "${command:cmake.buildDirectory}/tmp",
"cwd": "${command:cmake.buildDirectory}/rootfs",
"environment": [
{
"name": "PX4_SIM_MODEL",
@@ -100,12 +140,10 @@
"request": "launch",
"program": "${command:cmake.launchTargetPath}",
"args": [
"${workspaceFolder}/ROMFS/px4fmu_common",
"-s", "etc/init.d-posix/rcS",
"-t", "${workspaceFolder}/test_data"
"${workspaceFolder}/ROMFS/px4fmu_common"
],
"stopAtEntry": false,
"cwd": "${command:cmake.buildDirectory}/tmp",
"cwd": "${command:cmake.buildDirectory}/rootfs",
"environment": [
{
"name": "PX4_SIM_MODEL",
@@ -145,10 +183,18 @@
"id": "PX4_SIM_MODEL",
"description": "PX4_SIM_MODEL",
"options": [
"x3",
"x4"
"iris",
"typhoon_h480",
"plane",
"plane_catapult",
"plane_lidar",
"standard_vtol",
"tailsitter",
"tiltrotor",
"r1_rover",
"boat"
],
"default": "x3"
"default": "iris"
}
]
}
platforms/posix/Debug/launch_sitl_ignition.json.in
+63
View File
@@ -0,0 +1,63 @@
{
"version": "0.2.0",
"configurations": [
{
"name": "SITL (Ignition Gazebo)",
"type": "cppdbg",
"request": "launch",
"program": "${command:cmake.launchTargetPath}",
"args": [
"${workspaceFolder}/ROMFS/px4fmu_common",
"-s", "etc/init.d-posix/rcS"
],
"stopAtEntry": false,
"cwd": "${command:cmake.buildDirectory}/rootfs",
"environment": [
{
"name": "PX4_SIM_MODEL",
"value": "${input:PX4_SIM_MODEL}"
}
],
"externalConsole": false,
"preLaunchTask": "ign gazebo",
"postDebugTask": "ign gazebo kill",
"linux": {
"MIMode": "gdb",
"externalConsole": false,
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true
},
{
"description": "PX4 ignore wq signals",
"text": "handle SIGCONT nostop noprint nopass",
"ignoreFailures": true
}
]
},
"osx": {
"MIMode": "lldb",
"externalConsole": true,
"setupCommands": [
{
"text": "pro hand -p true -s false -n false SIGCONT",
}
]
}
}
],
"inputs": [
{
"type": "pickString",
"id": "PX4_SIM_MODEL",
"description": "PX4_SIM_MODEL",
"options": [
"x3",
"x4"
],
"default": "x3"
}
]
}
platforms/posix/Debug/posix.gdbinit
+2
View File
@@ -0,0 +1,2 @@
handle SIGCONT nostop noprint nopass
run
platforms/posix/Debug/posix.lldbinit
+3
View File
@@ -0,0 +1,3 @@
run
pro hand -p true -s false -n false SIGCONT
continue