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gz: rc.simulator: remove references to garden and improve version check (#24577)

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This commit is contained in:
Jacob Dahl
2025-03-21 14:22:24 -08:00
committed by GitHub
parent 4c0a63f679
commit 451b0a3db8
1 changed files with 13 additions and 9 deletions
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ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+13 -9
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@@ -47,18 +47,22 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
fi
elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
# Use Gazebo
echo "INFO [init] Gazebo simulator"
# Only start up Gazebo if PX4_GZ_STANDALONE is not set.
if [ -z "${PX4_GZ_STANDALONE}" ]; then
# "gz sim" only available in Garden and later
GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ]
then
# "gz sim" from Garden on
# Enforce minimum gz version as Harmonic (gz-sim8)
MIN_GZ_VERSION="8.0.0"
GZ_SIM_VERSION=$(gz sim --versions 2>/dev/null | head -n 1 | tr -d ' ')
if [ -z "$GZ_SIM_VERSION" ]; then
echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
exit 1
fi
# Use sort compare, check that MIN_GZ_VERSION is ordered last
if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)" = "$MIN_GZ_VERSION" ]; then
gz_command="gz"
gz_sub_command="sim"
@@ -69,8 +73,8 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
fi
else
echo "ERROR [init] Gazebo gz please install gz-garden"
exit 1
echo "ERROR [init] Gazebo gz sim version is too old ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
exit 1
fi
# Look for an already running world