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SITL Gazebo classic make airframes simulator specific

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This commit is contained in:
Daniel Agar
2023-01-04 21:12:08 -05:00
parent 97c8a60d67
commit 618288cca9
65 changed files with 866 additions and 252 deletions
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src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake
+54 -3
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@@ -62,7 +62,6 @@ set(debuggers
)
set(models
none
advanced_plane
believer
boat
@@ -77,7 +76,6 @@ set(models
iris_opt_flow_mockup
iris_rplidar
iris_vision
nxp_cupcar
omnicopter
plane
plane_cam
@@ -86,7 +84,6 @@ set(models
px4vision
r1_rover
rover
shell
standard_vtol
standard_vtol_drop
tailsitter
@@ -109,8 +106,62 @@ set(worlds
yosemite
)
# find corresponding airframes
file(GLOB gazebo_airframes
RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_gazebo_*
)
# remove any .post files
foreach(gazebo_airframe IN LISTS gazebo_airframes)
if(gazebo_airframe MATCHES ".post")
list(REMOVE_ITEM gazebo_airframes ${gazebo_airframe})
endif()
endforeach()
list(REMOVE_DUPLICATES gazebo_airframes)
foreach(gazebo_airframe IN LISTS gazebo_airframes)
set(model_only)
string(REGEX REPLACE ".*_gazebo_" "" model_only ${gazebo_airframe})
if(EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}")
if((EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}/${model_only}.sdf")
OR (EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}/${model_only}.sdf.jinja"))
#message(STATUS "SDF file found for ${model_only}")
else()
message(WARNING "No SDF file found for ${model_only}")
endif()
else()
message(WARNING "model directory ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only} not found")
endif()
endforeach()
foreach(debugger ${debuggers})
foreach(model ${models})
# match model to airframe
set(airframe_model_only)
set(airframe_sys_autostart)
set(gazebo_airframe_found)
foreach(gazebo_airframe IN LISTS gazebo_airframes)
string(REGEX REPLACE ".*_gazebo_" "" airframe_model_only ${gazebo_airframe})
string(REGEX REPLACE "_gazebo_.*" "" airframe_sys_autostart ${gazebo_airframe})
if(model STREQUAL ${airframe_model_only})
set(gazebo_airframe_found ${gazebo_airframe})
break()
endif()
endforeach()
if(gazebo_airframe_found)
#message(STATUS "gazebo model: ${model} (${airframe_model_only}), airframe: ${gazebo_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
else()
message(WARNING "gazebo missing model: ${model} (${airframe_model_only}), airframe: ${gazebo_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
endif()
foreach(world ${worlds})
if(world STREQUAL "none")
if(debugger STREQUAL "none")