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feat(sim): add SIH SITL build target and multi-instance args

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- Add boards/px4/sitl/sih.px4board disabling Gazebo bridge/msgs/plugins
- Update sitl_multiple_run.sh to accept model and build target arguments
- Add openjdk@17 to macOS setup script for jMAVSim display-only mode

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Ramon Roche
2026-03-31 17:01:10 -06:00
parent f46609ac8b
commit 4f2918ee3b
3 changed files with 23 additions and 10 deletions
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Tools/setup/macos.sh
+7
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@@ -79,6 +79,13 @@ if [[ $INSTALL_SIM == "--sim-tools" ]]; then
elif [[ $REINSTALL_FORMULAS == "--reinstall" ]]; then elif [[ $REINSTALL_FORMULAS == "--reinstall" ]]; then
brew reinstall px4-sim brew reinstall px4-sim
fi fi
# jMAVSim requires a JDK (Java 17 LTS recommended)
if ! brew ls --versions openjdk@17 > /dev/null; then
echo "[macos.sh] Installing OpenJDK 17 (required for jMAVSim)"
brew install openjdk@17
sudo ln -sfn $(brew --prefix openjdk@17)/libexec/openjdk.jdk /Library/Java/JavaVirtualMachines/openjdk-17.jdk
fi
fi fi
echo "[macos.sh] All set! The PX4 Autopilot toolchain was installed." echo "[macos.sh] All set! The PX4 Autopilot toolchain was installed."
Tools/simulation/sitl_multiple_run.sh
+13 -10
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@@ -1,25 +1,28 @@
#!/bin/bash #!/bin/bash
# run multiple instances of the 'px4' binary, but w/o starting the simulator. # Run multiple instances of the 'px4' binary, without starting an external simulator.
# It assumes px4 is already built, with 'make px4_sitl_default' # It assumes px4 is already built with the specified build target.
#
# Usage: ./Tools/simulation/sitl_multiple_run.sh [num_instances] [model] [build_target]
# Examples:
# ./Tools/simulation/sitl_multiple_run.sh 3 sihsim_quadx px4_sitl_sih
# ./Tools/simulation/sitl_multiple_run.sh 2 gazebo-classic_iris px4_sitl_default
# ./Tools/simulation/sitl_multiple_run.sh # defaults: 2 instances, gazebo-classic_iris, px4_sitl_default
# The simulator is expected to send to TCP port 4560+i for i in [0, N-1] sitl_num=${1:-2}
# For example jmavsim can be run like this: sim_model=${2:-gazebo-classic_iris}
#./Tools/simulation/jmavsim/jmavsim_run.sh -p 4561 -l build_target=${3:-px4_sitl_default}
sitl_num=2
[ -n "$1" ] && sitl_num="$1"
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
src_path="$SCRIPT_DIR/../../" src_path="$SCRIPT_DIR/../../"
build_path=${src_path}/build/px4_sitl_default build_path=${src_path}/build/${build_target}
echo "killing running instances" echo "killing running instances"
pkill -x px4 || true pkill -x px4 || true
sleep 1 sleep 1
export PX4_SIM_MODEL=gazebo-classic_iris export PX4_SIM_MODEL=${sim_model}
n=0 n=0
while [ $n -lt $sitl_num ]; do while [ $n -lt $sitl_num ]; do
boards/px4/sitl/sih.px4board
+3
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@@ -0,0 +1,3 @@
CONFIG_MODULES_SIMULATION_GZ_BRIDGE=n
CONFIG_MODULES_SIMULATION_GZ_MSGS=n
CONFIG_MODULES_SIMULATION_GZ_PLUGINS=n