simulation organization and cleanup

- 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)

test/mavsdk_tests/configs/sitl.json

@@ -23,8 +23,8 @@
             "timeout_min": 10
         },
         {
-            "model": "typhoon_h480_ctrlalloc",
-            "vehicle": "typhoon_h480_ctrlalloc",
+            "model": "typhoon_h480",
+            "vehicle": "typhoon_h480",
             "test_filter": "[controlallocation]",
             "timeout_min": 10
         }

test/mavsdk_tests/process_helper.py

@@ -10,6 +10,9 @@ import threading
 import errno
 from typing import Any, Dict, List, TextIO, Optional
 
+PX4_GAZEBO_MODELS = "Tools/simulation/gazebo/sitl_gazebo/models"
+PX4_GAZEBO_WORLDS = "Tools/simulation/gazebo/sitl_gazebo/worlds"
+
 
 class Runner:
     def __init__(self,
@@ -223,12 +226,12 @@ class GzserverRunner(Runner):
         self.env["GAZEBO_PLUGIN_PATH"] = \
             os.path.join(workspace_dir, build_dir, "build_gazebo")
         self.env["GAZEBO_MODEL_PATH"] = \
-            os.path.join(workspace_dir, "Tools/sitl_gazebo/models")
+            os.path.join(workspace_dir, PX4_GAZEBO_MODELS)
         self.env["PX4_SIM_SPEED_FACTOR"] = str(speed_factor)
         self.cmd = "stdbuf"
         self.args = ["-o0", "-e0", "gzserver", "--verbose",
                      os.path.join(workspace_dir,
-                                  "Tools/sitl_gazebo/worlds",
+                                  PX4_GAZEBO_WORLDS,
                                   "empty.world")]
 
     def has_started_ok(self) -> bool:
@@ -261,20 +264,23 @@ class GzmodelspawnRunner(Runner):
         self.env["GAZEBO_PLUGIN_PATH"] = \
             os.path.join(workspace_dir, build_dir, "build_gazebo")
         self.env["GAZEBO_MODEL_PATH"] = \
-            os.path.join(workspace_dir, "Tools/sitl_gazebo/models")
+            os.path.join(workspace_dir, PX4_GAZEBO_MODELS)
         self.cmd = "gz"
 
         if os.path.isfile(os.path.join(workspace_dir,
-                                       "Tools/sitl_gazebo/models",
+                                       PX4_GAZEBO_MODELS,
                                        self.model, self.model + ".sdf")):
+
             model_path = os.path.join(workspace_dir,
-                                      "Tools/sitl_gazebo/models",
+                                      PX4_GAZEBO_MODELS,
                                       self.model, self.model + ".sdf")
+
         elif os.path.isfile(os.path.join(workspace_dir,
-                                         "Tools/sitl_gazebo/models",
+                                         PX4_GAZEBO_MODELS,
                                          self.model, self.model + "-gen.sdf")):
+
             model_path = os.path.join(workspace_dir,
-                                      "Tools/sitl_gazebo/models",
+                                      PX4_GAZEBO_MODELS,
                                       self.model, self.model + "-gen.sdf")
         else:
             raise Exception("Model not found")
@@ -325,8 +331,8 @@ class GzclientRunner(Runner):
         self.name = "gzclient"
         self.cwd = workspace_dir
         self.env = dict(os.environ, **{
-            "GAZEBO_MODEL_PATH": os.path.join(workspace_dir,
-                                              "Tools/sitl_gazebo/models")})
+            "GAZEBO_MODEL_PATH":
+                os.path.join(workspace_dir, PX4_GAZEBO_MODELS)})
         self.cmd = "gzclient"
         self.args = ["--verbose"]
 

test/rostest_px4_run.sh

@@ -4,9 +4,9 @@ DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 PX4_SRC_DIR=${DIR}/..
 
 source /opt/ros/${ROS_DISTRO:-kinetic}/setup.bash
-source ${PX4_SRC_DIR}/Tools/setup_gazebo.bash ${PX4_SRC_DIR} ${PX4_SRC_DIR}/build/px4_sitl_default
+source ${PX4_SRC_DIR}/Tools/simulation/gazebo/setup_gazebo.bash ${PX4_SRC_DIR} ${PX4_SRC_DIR}/build/px4_sitl_default
 
-export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${PX4_SRC_DIR}:${PX4_SRC_DIR}/Tools/sitl_gazebo
+export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${PX4_SRC_DIR}:${PX4_SRC_DIR}/Tools/simulation/gazebo/sitl_gazebo
 
 export ROS_LOG_DIR="$HOME/.ros/ros_logs"
 mkdir -p "$ROS_LOG_DIR"