fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-09 08:01:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

standalone external modes

Browse Source 
Signed-off-by: frederik <frederik@auterion.com>
This commit is contained in:
frederik
2023-11-14 13:56:21 +01:00
parent 8e0a2e38fe
commit 4e8554f0a6
7 changed files with 130 additions and 77 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+32 -27
View File
@@ -38,6 +38,7 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; then
# set local coordinate frame reference
if [ -n "${PX4_HOME_LAT}" ]; then
param set SIM_GZ_HOME_LAT ${PX4_HOME_LAT}
@@ -59,36 +60,40 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
. ../gz_env.sh
fi
# "gz sim" only avaiilable in Garden and later
GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ]
then
# "gz sim" from Garden on
gz_command="gz"
gz_sub_command="sim"
else
echo "ERROR [init] Gazebo gz please install gz-garden"
exit 1
fi
# Only start up Gazebo if STANDALONE set to false
if [ "$STANDALONE" != '1' ]; then
# look for running ${gz_command} gazebo world
gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
# shellcheck disable=SC2153
if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
echo "INFO [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
if [ -z "${HEADLESS}" ]; then
# HEADLESS not set, starting gui
${gz_command} ${gz_sub_command} -g &
# "gz sim" only avaiilable in Garden and later
GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ]
then
# "gz sim" from Garden on
gz_command="gz"
gz_sub_command="sim"
else
echo "ERROR [init] Gazebo gz please install gz-garden"
exit 1
fi
else
echo "INFO [init] gazebo already running world: ${gz_world}"
PX4_GZ_WORLD=${gz_world}
# look for running ${gz_command} gazebo world
gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
# shellcheck disable=SC2153
if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
echo "INFO [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
if [ -z "${HEADLESS}" ]; then
# HEADLESS not set, starting gui
${gz_command} ${gz_sub_command} -g &
fi
else
echo "INFO [init] gazebo already running world: ${gz_world}"
PX4_GZ_WORLD=${gz_world}
fi
fi
# start gz_bridge